Mrj4a Instruction

General-Purpose AC Servo
General-Purpose Interface AC Servo

MODEL
MR-J4-_A
SERVO AMPLIFIER
MR-J4-_A SERVO AMPLIFIER INSTRUCTION MANUAL

INSTRUCTION MANUAL
MODEL MR-J4-A INSTRUCTIONMANUAL

MODEL
CODE 1CW804
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
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0(02

1 Functions and configuration
1. FUNCTIONS AND CONFIGURATION
1.1 Summary
The Mitsubishi MELSERVO-J4 series general-purpose AC servo has further higher performance and higher
functions compared to the previous MELSERVO-J3 series.
MELSERVO-J4 series compatible rotary servo motor is equipped with 22-bit (4194304 pulses/rev) high-
resolution absolute encoder. In addition, speed frequency response is increased to 2.5 kHz. Thus, faster and
more accurate control is enabled as compared to MELSERVO-J3 series.
The servo amplifier has position, speed, and torque control modes. In the position control mode, the
maximum pulse train of 4 Mpps is supported. Further, it can perform operation with the control modes
switched, e.g. position/speed control, speed/torque control and torque/position control. Hence, it is
applicable to a wide range of fields, not only precision positioning and smooth speed control of machine tools
and general industrial machines but also line control and tension control.
With one-touch tuning and real-time auto tuning, you can automatically adjust the servo gains according to
the machine.
The tough drive function and the drive recorder function, which are well-received in the MELSERVO-JN
series, have been improved. The MR-J4 servo amplifier supports the improved functions. Additionally, the
preventive maintenance support function detects an error in the machine parts. This function provides strong
support for the machine maintenance and inspection.
The servo amplifier supports the Safe Torque Off (STO) function for safety. By combining with optional MR-
J3-D05, the servo amplifier supports Safe stop 1 (SS1) function.
The servo amplifier has a USB communication interface. Therefore, you can connect the servo amplifier to
the personal computer with MR Configurator2 installed to perform the parameter setting, test operation, gain
adjustment, and others.
1- 1
1.2 Function block diagram
The function block diagram of this servo is shown below.
(1) MR-J4-500A or less

Power ຊ⋡ᨵၿ
factor improving Regenerative
ᅇ⏕
DCࣜ࢔ࢡࢺࣝ
DC reactor option
࢜ࣉࢩࣙࣥ
Servo amplifier P3
ࢧ࣮࣎࢔ࣥࣉ (Note 4)
P4 (ὀ4) P+ C D N- Servo motor
ࢧ࣮࣮࣎ࣔࢱ
Diode
ࢲ࢖࣮࢜ࢻ Dynamic brake
ࢲ࢖ࢼ࣑ࢵࢡ
stack
ࢫࢱࢵࢡ Relay
࣮ࣜࣞ circuit
MCCB MC L1 ࣈ࣮ࣞ࢟ᅇ㊰
U U
(Note
(ὀ2)2) U
L2 Current
㟁ὶ V V
Power
㟁※ + Regene- detector M
supply U U ᅇ⏕ ᳨ฟჾ
L3 CHARGE
rative TR W W
TR
ࣛࣥࣉ
CHARGE
lamp
Cooling
෭༷ࣇ࢓ࣥ fan
(Note 3)
(ὀ3)
RA B1
L11 Control 㟁☢
Electro-
+ ไᚚᅇ㊰ 24V DC B ࣈ࣮ࣞ࢟
circuit DC24V magnetic
L21 power
㟁※ STO brake
supply B2
ᅇ㊰
circuit
STO
CN8
switch Base
࣮࣋ࢫ Voltage Overcurrent
㐣㟁ὶ Current
CN2
ࢫ࢖ࢵࢳ 㟁ᅽ᳨ฟ 㟁ὶ᳨ฟ
detection
amplifier
࢔ࣥࣉ detection ಖㆤ detection
Encoder
࢚ࣥࢥ࣮ࢲ
Virtual
௬᝿
Position encoder
఩⨨ᣦ௧
command ࢚ࣥࢥ࣮ࢲ 㝆ᅽ
Model position Model speed ᅇ㊰
ධຊ
input ࣔࢹࣝ ࣔࢹࣝ
control
఩⨨ไᚚ
control
㏿ᗘไᚚ Step-down
Virtual
௬᝿ circuit
motor
࣮ࣔࢱ
MR-BAT6V1SET
CN4
Model
ࣔࢹࣝ఩⨨ Model
ࣔࢹࣝ㏿ᗘ Model torque
ࣔࢹࣝࢺࣝࢡ Option battery
࢜ࣉࢩࣙࣥࣂࢵࢸࣜ
position speed
(for absolute position
(⤯ᑐ఩⨨᳨ฟࢩࢫࢸ࣒
ࡢሙྜ) system)
detection
Actual position Actual speed Current
ᐇ఩⨨ ᐇ㏿ᗘ
control
control 㟁ὶไᚚ
control
ไᚚ ไᚚ
A/D USB RS-422 D/A

I/F
CN1 CN5 CN3 CN6
D I/Oไᚚ
DI/O control
Servo-on
࣭ࢧ࣮࣎࢜ࣥ Personal
Analog
࢔ࢼࣟࢢ Input command pulse ࣃ࣮ࢯࢼࣝ Controller
ࢥࣥࢺ࣮ࣟࣛ
(2ࢳࣕࣥࢿࣝ) ࣭ᣦ௧ࣃࣝࢫิධຊ computer
(2 channels) Start
࣭ጞື ࢥࣥࣆ࣮ࣗࢱ (Note5)
(ὀ5) Analog monitor
࢔ࢼࣟࢢࣔࢽࢱ
Malfunction, etc
࣭ᨾ㞀࡞࡝ USB RS-422 (2ࢳࣕࣥࢿࣝ)
(2 channels)
Note 1. The built-in regenerative resistor is not provided for the MR-J4-10A.
2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open.
For power supply specifications, refer to section 1.3.
3. Servo amplifiers MR-J4-70A or greater have a cooling fan.
4. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and
P2 of MR-J3 servo amplifiers.
5. Available in the future.
1- 2
(2) MR-J4-700A
Power ຊ⋡ᨵၿ
factor improving Regenerative
ᅇ⏕
DCDC reactor
ࣜ࢔ࢡࢺࣝ option
࢜ࣉࢩࣙࣥ
Servo amplifier P3
ࢧ࣮࣎࢔ࣥࣉ P4 (Note
(ὀ2) 4) P+ C N- Servo motor
ࢧ࣮࣮࣎ࣔࢱ
Diode
ࢲ࢖࣮࢜ࢻ Dynamic brake
ࢲ࢖ࢼ࣑ࢵࢡ
stack
ࢫࢱࢵࢡ Relay
࣮ࣜࣞ circuit
ࣈ࣮ࣞ࢟ᅇ㊰
MCCB MC L1 U U
(Note
(ὀ1)2) U
Current V V
Power
L2 㟁ὶ
㟁※ + Regene- detector M
᳨ฟჾ
supply L3
U U
rativeᅇ⏕
CHARGE TR W W
TR
ࣛࣥࣉ
CHARGE
lamp
Cooling
෭༷ࣇ࢓ࣥ fan
RA B1
L11 Control 㟁☢
Electro-
+ ไᚚᅇ㊰
circuit 24V DC B ࣈ࣮ࣞ࢟
DC24V magnetic
brake
L21 power
㟁※ STO
supply B2
ᅇ㊰
circuit
STO
CN8
Base
࣮࣋ࢫ Voltage Overcurrent
㐣㟁ὶ Current
CN2
ࢫ࢖ࢵࢳ
switch 㟁ᅽ᳨ฟ 㟁ὶ᳨ฟ
detection detection
amplifier
࢔ࣥࣉ ಖㆤ detection
Encoder
࢚ࣥࢥ࣮ࢲ
Virtual
௬᝿
Position encoder
఩⨨ᣦ௧
command ࢚ࣥࢥ࣮ࢲ 㝆ᅽ
ᅇ㊰
ධຊ
input ࣔࢹࣝ
Model position Model
ࣔࢹࣝ speed
control
఩⨨ไᚚ control
㏿ᗘไᚚ Step-down
Virtual
௬᝿ circuit
motor
࣮ࣔࢱ
MR-BAT6V1SET
CN4
Model
ࣔࢹࣝ఩⨨ Model
ࣔࢹࣝ㏿ᗘ Model
ࣔࢹࣝࢺࣝࢡtorque
Option battery
࢜ࣉࢩࣙࣥࣂࢵࢸࣜ
position speed
(⤯ᑐ఩⨨᳨ฟࢩࢫࢸ࣒
(for absolute position
ࡢሙྜ) system)
detection
Actual position Actual speed Current
ᐇ఩⨨ ᐇ㏿ᗘ
control control 㟁ὶไᚚ
control
ไᚚ ไᚚ
A/D USB RS-422 D/A

I/F
CN1 CN5 CN3 CN6
DI/O
D I/Ocontrol
ไᚚ
Servo-on
࣭ࢧ࣮࣎࢜ࣥ Personal
Analog
࢔ࢼࣟࢢ ࣃ࣮ࢯࢼࣝ Controller
ࢥࣥࢺ࣮ࣟࣛ
Input command
࣭ᣦ௧ࣃࣝࢫิධຊ pulse
(2(2ࢳࣕࣥࢿࣝ
channels)) Start computer
ࢥࣥࣆ࣮ࣗࢱ (Note5)
(ὀ3) Analog monitor
࣭ጞື
Malfunction, etc
࣭ᨾ㞀࡞࡝ USB RS-422 (2(2 channels) )
ࢳࣕࣥࢿࣝ
Note 1. For power supply specifications, refer to section 1.3.

2. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and
P2 of MR-J3 servo amplifiers.
1- 3
1.3 Servo amplifier standard specifications

Model MR-J4- 10A 20A 40A 60A 70A 100A 200A 350A 500A 700A
Rated voltage 3-phase 170 V AC
Output
Rated current [A] 1.1 1.5 2.8 3.2 5.8 6.0 11.0 17.0 28.0 37.0
Power
3-phase or 1-phase 200 V AC to 240 V AC,
supply/Freque 3-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
50 Hz /60 Hz
ncy
3.2
Rated current [A] 0.9 1.5 2.6 3.8 5.0 10.5 16.0 21.7 28.9
(Note 5)
Permissible
3-phase 170 V AC to 264V
Main circuit voltage 3-phase or 1-phase 170 V AC to 264V AC
AC
power supply fluctuation
input Permissible frequency
Within ±5%
fluctuation
Power supply
[kVA] Refer to section 10.2.
capacity
Inrush current [A] Refer to section 10.5.
Power
supply/Freque 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
ncy
Rated current [A] 0.2 0.3
Permissible
voltage 1-phase 170 V AC to 264V AC
Control circuit
fluctuation
power supply
Permissible frequency
Within ±5%
fluctuation
Power
[W] 30 45
consumption
Inrush current [A] 20 to 30 30
Voltage/Frequ
24 V DC ± 10%
Interface ency
power supply Power supply
[A] (Note 1) 0.5 (including CN8 connector signals)
capacity
Control
Sine-wave PWM control, current control method
method
Dynamic brake Built-in
Communicati USB Connection to a personal computer or others (MR Configurator2-compatible)
on function RS-422 Available in the future.
Max. input pulse
4 Mpps (for differential receiver), 200 kpps (for open collector)
frequency
Positioning feedback
Encoder resolution (resolution per servo motor revolution): 22 bits
pulse
Command pulse
Position Electronic gear A:1 to 16777216, B:1 to 16777216, 1/10 < A/B < 4000
multiplying factor
control mode
In-position range
0 pulse to ±65535 pulses (command pulse unit)
setting
Error
±3 revolutions
excessive
Torque limit Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque)
Speed control
Analog speed command 1: 2000, internal speed command 1: 5000
range
Analog speed
0 to ±10 V DC/rated speed (The speed at 10 V is changeable with [Pr. PC12].)
Speed control command input
mode Speed
0.01% or less (load fluctuation 0% to 100%), 0% (power fluctuation ±10%), ±0.2% or less
fluctuation
(ambient temperature 25 ± 10 °C) when using analog speed command
ratio
Torque limit Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque)
Analog torque
Torque 0 V DC to ±8 V DC/maximum torque (input impedance 10 kȍ to 12 kȍ )
command input
control mode
Speed limit Set by parameter setting or external analog input (0 V DC to 10 V DC/rated speed)
1- 4
Model MR-J4- 10A 20A 40A 60A 70A 100A 200A 350A 500A 700A
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal),
servo motor overheat protection,
Protective
encoder error protection, regenerative error protection, undervoltage protection, instantaneous
functions
power failure protection, overspeed protection,
Error excessive warning
Safety
STO (IEC/EN 61800-5-2)
function
Standards certified by EN ISO 13849-1 category 3 PL d, EN 61508 SIL 2, EN 62061 SIL CL 2, and EN 61800-5-2
CB (Note 6) SIL 2
Safety Response
8 ms or less (STO input off ĺ energy shut off)
performance performance
(Note 3) Test pulse Test pulse interval: 1 Hz to 25 Hz
input (STO) Test pulse off time: Up to 1 ms
LVD: EN 61800-5-1
Compliance CE marking EMC: EN 61800-3
to standards MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
UL standard UL 508C
Force cooling,
Natural cooling,
Structure (IP rating) Force cooling, open (IP20) open (IP20)
open (IP20)
(Note 4)
Close mounting (Note 2) Possible Impossible
Oper
0 ÛC to 55 ÛC (non-freezing)
Ambient ation
temperature Stora
-20 ÛC to 65 ÛC (non-freezing)
ge
Oper
Ambient ation
90% RH or less (non-condensing)
humidity Stora
Environment
ge
Indoors (no direct sunlight),
Ambience
free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude Max. 1000 m above sea level
2
Vibration 5.9 m/s or less at 10 Hz to 55 Hz (directions of X, Y, and Z axes)
Mass [kg] 0.8 0.8 1.0 1.0 1.4 1.4 2.1 2.3 4.0 6.2
Note 1. 0.5A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of
I/O points.
2. When closely mounting the servo amplifier of 3.5 kW or less, operate them at the ambient temperatures of 0 ÛC to 45 ÛC or at
75% or smaller effective load ratio.
3. This function diagnoses malfunction of contacts including an external circuit by shortly turning off signals from a controller to
the servo amplifier at a constant period while input signals of the servo amplifier are on.
4. Except for the terminal block.
5. The rated current is 2.9 A when the servo amplifier is used with UL or CSA compliant servo motor.
1- 5
1.4 Combinations of servo amplifiers and servo motors

Servo amplifier Rotary servo motor Linear servo motor (primary Direct drive motor
side)
MR-J4-10A HG-KR053㸪HG-KR13
HG-MR053㸪HG-MR13
MR-J4-20A HG-KR23
HG-MR23
MR-J4-40A HG-KR43
HG-MR43
MR-J4-60A HG-SR51, HG-SR52
MR-J4-70A HG-KR73 Available in the future. Available in the future.
HG-MR73
MR-J4-200A HG-SR121, HG-SR201,
HG-SR152, HG-SR202
MR-J4-700A HG-SR702
1- 6
1.5 Function list
The following table lists the functions of this servo. For details of the functions, refer to the reference field.
Detailed
Control mode Description
explanation
Section 3.2.1
Position control mode This servo is used as a position control servo. Section 3.6.1
Section 4.2
Section 3.2.2
Speed control mode This servo is used as a speed control servo. Section 3.6.2
Section 4.3
Section 3.2.3
Torque control mode This servo is used as a torque control servo. Section 3.6.3
Section 4.4
Position/speed control Using input device, control can be switched between position control and speed
Section 3.6.4
change mode control.
Speed/torque control change
Using input device, control can be switched between speed control and torque control. Section 3.6.5
mode
Torque/position control Using input device, control can be switched between torque control and position
Section 3.6.6
change mode control.
High-resolution encoder of 4194304 pulses/rev is used as the encoder of the rotary
High-resolution encoder
servo motor compatible with the MELSERVO-J4 series.
Absolute position detection Merely setting a home position once makes home position return unnecessary at
Chapter 12
system every power-on.
You can switch between gains during rotation and gains during stop or can use an
Gain switching function Section 7.2
input device to switch gains during operation.
Advanced vibration
This function suppresses vibration at the arm end or residual vibration. Section 7.1.5
suppression control II
Servo amplifier detects mechanical resonance and sets filter characteristics
Adaptive filter II Section 7.1.2
automatically to suppress mechanical vibration.
Suppresses high-frequency resonance which occurs as servo system response is
Low-pass filter Section 7.1.4
increased.
Analyzes the frequency characteristic of the mechanical system by simply connecting
Machine analyzer function a MR Configurator2 installed personal computer and servo amplifier.
MR Configurator2 is necessary for this function.
This function provides better disturbance response in case low response level that
Robust filter [Pr. PE41]
load to motor inertia ratio is high for such as roll send axes.
Slight vibration suppression
Suppresses vibration of ±1 pulse produced at a servo motor stop. [Pr. PB24]
control
[Pr. PA06]
Electronic gear Input pulses can be multiplied by 1/10 to 4000.
[Pr. PA07]
S-pattern
acceleration/deceleration time Speed can be increased and decreased smoothly. [Pr. PC03]
constant
Automatically adjusts the gain to optimum value if load applied to the servo motor
Auto tuning Section 6.3
shaft varies. Higher in performance than MR-J3 series servo amplifier.
Used when the regenerative option cannot provide enough regenerative power.
Brake unit Section 11.3
Can be used for the 5 kW or more servo amplifier.
Used when the regenerative option cannot provide enough regenerative power.
Power regenerative converter Section 11.4
Can be used for the 5 kW or more servo amplifier.
Used when the built-in regenerative resistor of the servo amplifier does not have
Regenerative option Section 11.2
sufficient regenerative capability for the regenerative power generated.
Alarm history clear Alarm history is cleared. [Pr. PC18]
Output signal selection ST1 (Forward rotation start), ST2 (Reverse rotation start), and SON (Servo-on) and [Pr. PD03] to
(device settings) other input device can be assigned to any pins. [Pr. PD22]
Output signal selection The pins that output the output devices, including ALM (Malfunction) and DB [Pr. PD23] to
(device settings) (Dynamic brake interlock), can be assigned to certain pins of the CN1 connectors. [Pr. PD28]
Output signal (DO) forced Output signal can be forced on/off independently of the servo status.
Section 4.5.8
output This function is used for wiring check of output signal.
If the input power supply voltage had reduced to cause an alarm but has returned to
Restart after instantaneous
normal, the servo motor can be restarted by merely switching on the start signal.
power failure
(Available in the future.)
1- 7
Detailed
Function Description
explanation
Command pulse selection Command pulse train form can be selected from among three different types. [Pr. PA13]
Section 3.6.1
(5)
Torque limit Servo motor torque can be limited to any value.
[Pr. PA11]
[Pr. PA12]
Section 3.6.3
(3)
Speed limit Servo motor speed can be limited to any value.
[Pr. PC05] to
[Pr. PC11]
Status display Servo status is shown on the 5-digit, 7-segment LED display Section 4.5
External I/O signal display On/off statuses of external I/O signals are shown on the display. Section 4.5.7
Voltage is automatically offset to stop the servo motor if it does not come to a stop
Automatic VC offset Section 4.5.4
when VC (Analog speed command) or VLA (Analog speed limit is 0 V.
Alarm code output If an alarm has occurred, the corresponding alarm number is output in 3-bit code. Chapter 8
Jog operation, positioning operation, motor-less operation, DO forced output, and
Test operation mode program operation Section 4.5.9
MR Configurator2 is required to perform positioning operation and program operation.
Analog monitor output Servo status is output in terms of voltage in real time. [Pr. PC14]
[Pr. PC14], [Pr. PC15]
Using a personal computer, you can perform the parameter setting, test operation,
MR Configurator2 Section 11.7
monitoring, and others.
Gain adjustment is performed just by one click on a certain button on MR
One-touch tuning Configurator2 or operation section. Section 6.1
This function makes the equipment continue operating even under the condition that
an alarm occurs.
Tough drive function Section 7.3
The tough drive function includes two types: the vibration tough drive and the
instantaneous power failure tough drive.
This function continuously monitors the servo status and records the status transition
before and after an alarm for a fixed period of time. You can check the recorded data
on the drive recorder window on MR Configurator2 by clicking the "Graph" button.
Drive recorder function However, the drive recorder will not operate on the following conditions. [Pr. PA23]
1. You are using the graph function of MR Configurator2.
2. You are using the machine analyzer function.
3. [Pr. PF21] is set to "-1".
This function is a safety function that complies with IEC/EN 61800-5-2. You can create
STO function Chapter 13
a safety system for the equipment easily.
You can check the cumulative energization time and the number of on/off times of the
Servo amplifier life diagnostic inrush relay. This function gives an indication of the replacement time for parts of the
function servo amplifier including a capacitor and a relay before they malfunction.
This function calculates the power running energy and the regenerative power from
Power monitoring function the data in the servo amplifier such as speed and current. Power consumption and
others are displayed on MR Configurator2.
From the data in the servo amplifier, this function estimates the friction and vibrational
component of the drive system in the equipment and recognizes an error in the
Machine diagnosis function
machine parts, including a ball screw and bearing.
1- 8
1.6 Model designation
(1) Rating plate

AC SERVO
SER.S21001001 Serial
〇㐀␒ྕ number
MODEL MR-J4-10A Model
ᙧྡ
POWER : 100W Capacity
ᐜ㔞
INPUT : 3AC/AC200-240V 0.9A/1.5A 50/60Hz Applicable
㐺⏝㟁※ power supply
OUTPUT: 3PH170V 0-360Hz 1.1A Rated
ᐃ᱁ฟຊ㟁※ output current
STD.: IEC/EN61800-5-1 MAN.: IB(NA)0300175 Standard, Manual number
つ᱁㸪ྠᲕ࣐ࢽࣗ࢔ࣝ␒ྕ
Max. Surrounding Air Temp.: 55°C ࿘ᅖ ᗘtemperature
Ambient
IP20 ಖㆤ➼⣭
IP rating
The
〇㐀ᖺ᭶year and month of
TOKYO 100-8310, JAPAN 䚷 MADE IN JAPAN manufacture
(2) Model
The following describes what each block of a model name indicates.
General-purpose
ỗ⏝࢖ࣥࢱࣇ࢙࣮ࢫ interface
Series
ࢩ࣮ࣜࢬྡ
Rated
ᐃ᱁ฟຊ output
グྕ Rated
Symbol output
ᐃ᱁ฟຊ[kW]
10 0.1
20 0.2
40 0.4
60 0.6
70 0.75
100 1
200 2
350 3.5
500 5
700 7
1- 9
1.7 Structure
1.7.1 Parts identification

Detailed
No. Name/Application explanati
(1) on
Display
Section
(1) The 5-digit, seven-segment LED shows the servo
(2) 4.5
status and the alarm number.
Operation section
Inside of the display cover Used to perform status display, diagnostic, alarm,
and parameter setting operations.
MODE UP DOWN SET Section

(2)
4.5
Used to set data.
ࢹ࣮ࢱࢆタᐃࡋࡲࡍࠋ
Used to change the display
ྛ࣮ࣔࢻ࡛ࡢ⾲♧ࢹ࣮ࢱ
orࢆኚ᭦ࡋࡲࡍࠋ
data in each mode.
Used to change the mode.
࣮ࣔࢻࢆኚ᭦ࡋࡲࡍࠋ
USB communication connector (CN5) Section
(3)
(3) Connect with the personal computer. 11.7
Analog monitor connector (CN6) Section
(4)
(4) Outputs the analog monitor. 3.2
RS-422 communication connector (CN3) (Availabl
Chapter
(12) (5) Connect with the personal computer, etc. 14the
e in
(5) future.)
STO input signal connector (CN8)
Chapter
(6) Used to connect MR-J3-D05 safety logic unit and
13
(6) external safety relay.
I/O signal connector (CN1) Section
Used to connect digital I/O signals. 3.2
(13) (7)
Section
Side
ഃ㠃 3.4
(14) Encoder connector (CN2) Section
(8)
Used to connect the servo motor encoder. 3.4
(7)
Battery connector (CN4)
Chapter
(9) Used to connect the battery for absolute position 12
data backup. Chapter
Battery holder 12
Section
(15) (10) Install the the battery for absolute position data 12.4
backup.
Protective earth (PE) terminal Section
(11)
Ground terminal. 3.1
(16) Main circuit power supply connector (CNP1) Section
(8) (12) 3.3
Connect the input power supply.
Rating plate Section
(13)
1.6
Control circuit power supply connector (CNP2)
Section
(14) Connect the control circuit power supply or
(9) 3.1
regenerative option.
Section
(10) Servo motor power supply connector (CNP3)
(15) 3.3
Bottom
ᗏ㠃 face Connect the servo motor.
Charge lamp
(11) (16) Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Note. The illustration above is of MR-J4-10A.
1 - 10
(2) MR-J4-350A
Detailed
The broken line area is the same as MR-J4-200A or less.
◚⥺ෆࡣMR-J4-200A௨ୗ࡜ඹ㏻࡛ࡍࠋ
on
Main circuit power supply connector (CNP1) Section
Connect the input power supply. 3.1
(1)
Section
3.3
(2)
1.6
(1) Servo motor power supply connector (CNP3)
(3) Section
Connect the servo motor.
3.1
Control circuit power supply connector (CNP2)
Section
(4) Connect the control circuit power supply or 3.3
regenerative option.
(2) Charge lamp
Side
ഃ㠃 (5) Lit to indicate that the main circuit is charged. While
(3) this lamp is lit, do not reconnect the cables.
Protective earth (PE) terminal Section
Ground terminal. 3.1
(6)
(4) Section
3.3
Battery holder
Section
Chapter
(5) (7) Install the the battery for absolute position data 12.4
12
backup.
Bottom face
ᗏ㠃
(6) (7)
1 - 11
(3) MR-J4-500A
POINT
The servo amplifier is shown with the front cover open. The front cover cannot
be removed.
Detailed
The broken line ◚⥺ෆࡣMR-J4-200A௨ୗ࡜ඹ㏻࡛ࡍࠋ
area is the same as MR-J4-200A or less.
on
Control circuit terminal block (TE2) Section
(1)
Used to connect the control circuit power supply. 3.1
Main circuit terminal block (TE1) Section
(2) 3.3
Connect the input power supply.
(1)
Battery holder
Chapter
Section
(3) Install the the battery for absolute position data
12.4
12
backup.
(2) Rating plate Section
(4)
1.6
Regenerative option/power factor improving reactor
terminal block (TE3) Section
(5)
Used to connect regenerative options and a power 3.1
factor improving DC reactor. Section
(3)
(Note) Servo motor power supply terminal block (TE4) 3.3
(6)
Connect the servo motor.
(4) Charge lamp
Side
ഃ㠃 (7) Lit to indicate that the main circuit is charged. While
(5) Protective earth (PE) terminal Section
(ὀ) Ground terminal. 3.1
(8)
Section
3.3
(6)
(7)
(8)
Note. Lines around the battery holder are omitted from the illustration.
1 - 12
(4) MR-J4-700A
POINT
The servo amplifier is shown without the front cover. For removal of the front
cover, refer to section 1.6.2.
The broken line area is the same as MR-J4-200A or less. Detailed

◚⥺ෆࡣMR-J4-200A௨ୗ࡜ඹ㏻࡛ࡍࠋ
on
Power factor improving reactor terminal block (TE3)
(1)
Used to connect the DC reactor.
Main circuit terminal block (TE1)
Section
(2) Used to connect the input power supply,
3.1
regenerative option, and servo motor.
Section
(7) Control circuit terminal block (TE2)
(3) 3.3
(6) Used to connect the control circuit power supply.
Protective earth (PE) terminal
(4)
Ground terminal.
(5) Battery holder
(ὀ)
(Note) Section
Chapter
(5) Install the the battery for absolute position data 12.4
12
backup.
(6)
1.6
Charge lamp
(7) Lit to indicate that the main circuit is charged. While
(1)
(2)
(4) (3)
Note. Lines around the battery holder are omitted from the illustration.
1 - 13
1.7.2 Removal and reinstallation of the front cover
Before removing or installing the front cover, turn off the power and wait for 15
minutes or more until the charge lamp turns off. Then, confirm that the voltage
Cautions between P+ and N- is safe with a voltage tester and others. Otherwise, an electric
shock may occur. In addition, when confirming whether the charge lamp is off or
not, always confirm it from the front of the servo amplifier.
(1) For MR-J4-700A

Removal of the front cover
A)
A)
1) Hold the ends of lower side of the front cover with 2) Pull up the cover, supporting at point A).
both hands.
3) Pull out the front cover to remove. Hold the ends of

lower side of the front cover with both hands.
1 - 14
Reinstallation of the front cover
Front cover
ṇ㠃࢝ࣂ࣮
setting tab
ྲྀ௜ࡅ࡙ࡵ A)
A)
1) Insert the front cover setting tabs into the sockets of 2) Push down the cover, supporting at point A).
servo amplifier (2 places).
Setting tab
ྲྀ௜ࡅ࡙ࡵ
3) Press the cover against the terminal box until the

installing knobs click.
1 - 15
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ࣀ࣮ࣄ࣮ࣗࢬ ࢥࣥࣆ࣮ࣗࢱ
computer
㐽᩿ჾ0&&%
breaker (MCCB) 05&RQILJXUDWRU
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(Note
ὀ 3)
Magnetic
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Analog
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0&
contactor
(MC) &1
ὀ
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ࣃ࣮ࢯࢼࣝࢥࣥࣆ࣮ࣗࢱ࡞࡝࡬ὀ
&1 ࢭ࣮ࣇࢸ࢕࣮ࣜࣞࡲࡓࡣ
To safety relay or MR-J3-
05-'ࢭ࣮ࣇࢸ࢕
D05 safety logic unit
Line noise
ࣛ࢖ࣥࣀ࢖ࢬ ࣟࢪࢵࢡࣘࢽࢵࢺ࡬
filter
ࣇ࢕ࣝࢱ
)5%6)
&1
8
/
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୰⥅➃Ꮚྎ terminal block
/
/ :
Power factor
improving
ຊ⋡ᨵၿ 3 &1
'&ࣜ࢔ࢡࢺࣝ
DC reactor
)5+(/ 3
3 &1
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&
/
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ࢧ࣮࣮࣎ࣔࢱmotor
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RS T
(Note
(ὀ2) 2)
Power
㟁※supply
Moldedࣀ࣮ࣄ࣮ࣗࢬ
case circuit
breaker㐽᩿ჾ(MCCB)
(MCCB)
Personal
ࣃ࣮ࢯࢼࣝ
ࢥࣥࣆ࣮ࣗࢱ
computer
MR Configurator2
CN5
(Note
(ὀ3) 3)
Magnetic
㟁☢᥋ゐჾ
(MC)
contactor
(MC)
(Note
(ὀ1) 1) CN6 Analog
࢔ࢼࣟࢢࣔࢽࢱmonitor
CN3
Line noise Personal computer (Note 4)
ࣃ࣮ࢯࢼࣝࢥࣥࣆ࣮ࣗࢱ࡞࡝࡬(ὀ4)
ࣛ࢖ࣥࣀ࢖ࢬ
filter
ࣇ࢕ࣝࢱ CN8 To safety relay or MR-J3-
ࢭ࣮ࣇࢸ࢕࣮ࣜࣞࡲࡓࡣ
(FR-BSF01) MR-J3-D05ࢭ࣮ࣇࢸ࢕
ࣟࢪࢵࢡࣘࢽࢵࢺ࡬
U
L1 CN1
V
L2
W
L3 Junction
Power factor
improving
ຊ⋡ᨵၿ P3
DC reactor
DCࣜ࢔ࢡࢺࣝ CN2
(FR-HEL) P4
P+
Regenerative
ᅇ⏕ CN4
࢜ࣉࢩࣙࣥ Battery
ࣂࢵࢸࣜ
option
C
L11
L21
Servo
Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P3 and P4.
2. For power supply specifications, refer to section 1.3.
3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn
off the magnetic contactor.
4. RS-422 communication function will be available in the future.
1 - 17
(3) MR-J4-500A
RS T
(ὀ2) 2)
(Note
Power
㟁※supply
Molded case circuit
ࣀ࣮ࣄ࣮ࣗࢬ
breaker
㐽᩿ჾ (MCCB)
(MCCB)
Personal
ࣃ࣮ࢯࢼࣝ
computer
ࢥࣥࣆ࣮ࣗࢱ
MR Configurator2
(Note 3) CN5
ὀ3)
(Magnetic
contactor
㟁☢᥋ゐჾ
L11
(MC) (MC)
(ὀ1)
(Note 1) L21
CN6 Analog monitor
CN3
Line noise
ࣛ࢖ࣥࣀ࢖ࢬ Personal computer (Note 4)
ࣃ࣮ࢯࢼࣝࢥࣥࣆ࣮ࣗࢱ࡞࡝࡬ (ὀ4)
filter
ࣇ࢕ࣝࢱ
CN8 To safety relay or MR-J3-
(FR-BLF) MR-J3-D05 ࢭ࣮ࣇࢸ࢕
ࣟࢪࢵࢡࣘࢽࢵࢺ࡬
CN1
L1
L2 Junction terminal block
୰⥅➃Ꮚྎ
L3
Power factor
improving P3 CN2
ຊ⋡ᨵၿ DC
reactor
DCࣜ࢔ࢡࢺࣝ U
(FR-HEL) CN4
P4 Battery
ࣂࢵࢸࣜ
V
P+
Regenerative
ᅇ⏕ W
࢜ࣉࢩࣙࣥ
option
C
Servo motor
ࢧ࣮࣮࣎ࣔࢱ
1 - 18
(4) MR-J4-700A
RS T
(Note
(ὀ2) 2)
Power
㟁※ supply
Molded case circuit

ࣀ࣮ࣄ࣮ࣗࢬ
㐽᩿ჾ
breaker (MCCB)
(MCCB) Personal
ࣃ࣮ࢯࢼࣝ
computer
ࢥࣥࣆ࣮ࣗࢱ
MR Configurator2
CN5
(Note 3)
ὀ3)
(Magnetic
㟁☢᥋ゐჾ
contactor
(MC) (MC)
CN6
Analog monitor
(Note
(ὀ1) 1)
CN3
Personal computer (Note 4)
ࣃ࣮ࢯࢼࣝࢥࣥࣆ࣮ࣗࢱ࡞࡝࡬ (ὀ4)
CN8 To safety relay or MR-J3-
Line noise
ࣛ࢖ࣥࣀ࢖ࢬ MR-J3-D05
D05 safety ࢭ࣮ࣇࢸ࢕
logic unit
filter
ࣇ࢕ࣝࢱ ࣟࢪࢵࢡࣘࢽࢵࢺ࡬
(FR-BLF)
CN1
L21
Power factor L11 Junction
improving
ຊ⋡ᨵၿ
DC
DCreactor
ࣜ࢔ࢡࢺࣝ CN2
(FR-HEL)
P3 CN4
Battery
ࣂࢵࢸࣜ
P4
L3
L2
L1
U V W
P+ C
Regenerative
ᅇ⏕
࢜ࣉࢩࣙࣥ
option
Servo
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0(02

3. SIGNALS AND WIRING
Any person who is involved in wiring should be fully competent to do the work.
Before wiring, turn off the power and wait for 15 minutes or more until the charge
lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a
voltage tester and others. Otherwise, an electric shock may occur. In addition,
when confirming whether the charge lamp is off or not, always confirm it from the
front of the servo amplifier.
WARNING Ground the servo amplifier and servo motor securely.
Do not attempt to wire the servo amplifier and servo motor until they have been
installed. Otherwise, it may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it
may cause an electric shock.
To avoid an electric shock, insulate the connections of the power supply
terminals.
Wire the equipment correctly and securely. Otherwise, the servo motor may
operate unexpectedly, resulting in injury.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may
occur.
Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.
The surge absorbing diode installed to the DC relay for control output should be
fitted in the specified direction. Otherwise, the emergency stop and other
protective circuits may not operate.
Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
DC24V
24 V DC 24 V DC
DC24V
DOCOM DOCOM
Control output Control output

೙ᓮ಴ജାภ RA ೙ᓮ಴ജାภ RA
Cautions signal
DICOM
signal
DICOM
For sinkࠪࡦࠢ಴ജ
output interface For source output interface
࠰࡯ࠬ಴ജ
ࠗࡦ࠲ࡈࠚ࡯ࠬߩ႐ว ࠗࡦ࠲ࡈࠚ࡯ࠬߩ႐ว
Use a noise filter, etc. to minimize the influence of electromagnetic interference.

Electromagnetic interference may be given to the electronic equipment used near
the servo amplifier.
Do not install a power capacitor, surge killer or radio noise filter (FR-BIF option)
with the power line of the servo motor.
When using the regenerative resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative resistor,
causing a fire.
Do not modify the equipment.
3- 1
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ࠨ࡯ࡏࠕࡦࡊ Servo motor
ࠨ࡯ࡏࡕ࡯࠲ Servo amplifier
ࠨ࡯ࡏࡕ࡯࠲
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(1) For 3-phase 200 V AC to 240 V AC power supply of MR-J4-10A to MR-J4-350A

Malfunction
᡿㓚 Off
ࠝࡈ On
RA1 ࠝࡦ
MC
MC
SK
EMG stop switch
㕖Ᏹ஗ᱛࠬࠗ࠶࠴
Servo amplifier
ࠨ࡯ࡏࡕ࡯࠲
MCCB MCMC(ᵈ6)
(Note 6) CNP1
L1
3-phase CNP3 (ᵈ5) 5)
(Note
ਃ⋧
200 V AC200V㨪240V
AC to 240V AC L2 U U
Motor
ࡕ࡯࠲
L3 V V
M
N- W W
P3
(Note
(ᵈ9)9) (Note
(ᵈ1)1)
P4
PE
CNP2
P+
(Note 2)
(ᵈ2) C
D (ᵈ3)
(Note 3)
ࠛࡦࠦ࡯࠳
CN2 Encoder
ࠛࡦࠦ࡯࠳
L11 Encoder
ࠤ࡯ࡉ࡞ cable
L21
(Note 7)
Main circuit
(ᵈ7) CN1 CN3 24 V DC
DC24V
power
ਥ࿁〝㔚Ḯsupply
Forced
ᒝ೙஗ᱛ2 stop 2 EM2 DOCOM
(Note 4)
(ᵈ4)
Servo-on
ࠨ࡯ࡏࠝࡦ SON DICOM
(Note 4)
(ᵈ4)
DOCOM ALM RA1 Malfunction
᡿㓚
CN8
(Note 8)(ᵈ8)
Short-circuit
⍴⛊ࠦࡀࠢ࠲connector
(Packed(ࠨ࡯ࡏࠕࡦࡊߦઃዻ)
with the servo amplifier)
Note 1. Always connect between P3 and P4 terminals. (factory-wired) When using the power factor improving DC reactor,
refer to section 11.11. Use either the power factor improving DC reactor or the power factor improving AC reactor.
2. Always connect between P+ and D terminals. (factory-wired) When using the regenerative option, refer to section
11.2.
3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to Servo Motor Instruction
Manual (Vol. 3).
4. This diagram is for sink I/O interface. For source I/O interface, refer to section 3.9.3.
5. For connecting servo motor power wires, refer to Servo Motor Instruction Manual (Vol. 3).
6. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure
of contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases,
and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake
deceleration is not required, slow the time to turn off the magnetic contactor.
7. Configure up a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the
servo amplifier.
8. When not using the STO function, attach a short-circuit connector supplied with a servo amplifier.
9. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded case circuit breaker.
(Refer to section 11.10.)
3- 3
(2) For 1-phase 200 V AC to 240 V AC power supply of MR-J4-10A to MR-J4-70A
POINT
Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of
the connecting destinations is different from MR-J3 Series Servo Amplifier.
When using MR-J4 as a replacement for MR-J3, be careful not to connect the
power to L2.
Malfunction
᡿㓚 Off
ࠝࡈ
RA1 On
ࠝࡦ
MC
MC
SK
EMG stop switch
Servo amplifier
ࠨ࡯ࡏࡕ࡯࠲
MCCB MCMC(ᵈ6)
(Note 6) CNP1
1-phase
න⋧ L1
200 V AC to 240V AC CNP3 (ᵈ5)5)
(Note
AC200V㨪240V
L2 U U
Motor
ࡕ࡯࠲
L3 V V
M
N- W W
P3
(ᵈ9)9)
(Note (Note
(ᵈ1)1)
P4
PE
CNP2
P+
(ᵈ2)
(Note 2) C
D (ᵈ3)
CN2 (Note 3)
ࠛࡦࠦ࡯࠳ Encoder
L11 ࠛࡦࠦ࡯࠳
Encoder
ࠤ࡯ࡉ࡞ cable
(Note 7)
L21
Main circuit
power supply DC24V
ਥ࿁〝㔚Ḯ
Forced
(Note 4)
(ᵈ4)
Servo-on
(Note 4)
(ᵈ4)
᡿㓚
CN8
(Note 8)(ᵈ8)
⍴⛊ࠦࡀࠢ࠲
Short-circuit connector
11.2.
Manual (Vol. 3).
servo amplifier.
9. When wires used for L11 and L21 are thinner than wires used for L1, and L3, use a molded case circuit breaker.
3- 4
(3) MR-J4-500A
Malfunction
᡿㓚 Off
ࠝࡈ On
RA1 ࠝࡦ
MC
MC
EMG stop switch SK
Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ Servo
ࠨ࡯ࡏࡕ࡯࠲motor
MCCB MCMC(ᵈ6)
(Note 6) TE1
L1
3-phase TE4 (ᵈ5)5)
(Note
ਃ⋧
200 V AC200V㨪240V
AC to 240V AC L2 U U
Motor
ࡕ࡯࠲
L3 V V
M
N- W W
(ᵈ9)9)
(Note
TE2
L11
PE
L21
TE3
P3
(ᵈ1)
(Note 1)
P4 (ᵈ3)
(Note 3)
ࠛࡦࠦ࡯࠳
CN2 Encoder
ࠛࡦࠦ࡯࠳
P+ Encoder
ࠤ࡯ࡉ࡞ cable
C
(Note 2)
(ᵈ2)
TE4
(Note 7) D
Main circuit
DC24V
power
Forced
(Note 4)
(ᵈ4)
Servo-on
(Note
(ᵈ4) 4)
᡿㓚
CN8
(Note 8)(ᵈ8)
⍴⛊ࠦࡀࠢ࠲
11.2.
Manual (Vol. 3).
servo amplifier.
3- 5
(4) MR-J4-700A
Malfunction
᡿㓚 Off
ࠝࡈ
RA1 On
ࠝࡦ
MC
MC
EMG stop switch SK
Servo amplifier
ࠨ࡯ࡏࡕ࡯࠲
MCCB MCMC(ᵈ6)
(Note 6) TE1
3-phase
ਃ⋧ L1
200 V AC200V㨪240V
AC to 240V AC (ᵈ5)5)
(Note
Built-in
L2 ౝ⬿࿁↢ U U
regenerative Motor
ࡕ࡯࠲
ᛶ᛫ེ
L3 resistor V V
M
(ᵈ2)
(Note 2) P+ W W
(Note
(ᵈ9)9) C
TE2 PE
L11
L21
TE3
N- ( 3)
(ᵈ3)
(Note
CN2 ࠛࡦࠦ࡯࠳ Encoder
ࠛࡦࠦ࡯࠳
Encoder
ࠤ࡯ࡉ࡞ cable
P3
(Note
(ᵈ1)1)
P4
(Note 7)
Main circuit
DC24V
power
Forced
(Note 4)
(ᵈ4)
Servo-on
(Note 4)
(ᵈ4)
᡿㓚
CN8
(Note 8)(ᵈ8)
⍴⛊ࠦࡀࠢ࠲
2. When using the regenerative option, refer to section 11.2.
Manual (Vol. 3).
servo amplifier.
3- 6
3.2 I/O signal connection example
3.2.1 Position control mode

Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
24 DC24V(ᵈ4㧘12)
V DC (Note 4,12) (Note
(ᵈ7)7)
Positioning
૏⟎᳿߼࡙࠾࠶࠻ module CN1
QD75D (ᵈ7)7)
(Note
CN1 21 DICOM (ᵈ2)
(Note 2)
DICOM 20 Malfunction
48 ALM RA1 ᡿㓚(ᵈ6)
(Note 6)
CLEARCOM 14 DOCOM 46 Zero speed
CLEAR 13 CR 41 23 ZSP RA2 㔖ㅦᐲᬌ಴
detection
(Note
(ᵈ12)12)
RDYCOM 12 25 TLC RA3 Limiting torque
࠻࡞ࠢ೙㒢ਛ
READY 11 RD 49
24 INP RA4 In-position
ࠗࡦࡐ࡚ࠫࠪࡦ
PULSE F+ 15 PP 10
PULSE F- 16 PG 11
10 10mએਅ
m or shorter
PULSE R+ 17 NP 35
PULSE R- 18 NG 36 4 LA Encoder
ࠛࡦࠦ࡯࠳A⋧ࡄ࡞ࠬA-phase pulse
PG0 9 LZ 8 5 LAR (Ꮕേ࡜ࠗࡦ࠼࡜ࠗࡃ)
(differential line driver)
PG0 COM 10 LZR 9 6 LB Encoder B-phase pulse
ࠛࡦࠦ࡯࠳B⋧ࡄ࡞ࠬ
(Note 11)
(ᵈ11) LG 3 7 LBR (Ꮕേ࡜ࠗࡦ࠼࡜ࠗࡃ)
SD Plate
ࡊ࡟࡯࠻ Control common
೙ᓮࠦࡕࡦ
34 LG Control
೙ᓮࠦࡕࡦ common
10 m10mએਅ(ᵈ8)
or shorter (Note 8)
33 OP Encoder Z-phase pulse
ࠛࡦࠦ࡯࠳Z⋧ࡄ࡞ࠬ
Plate
ࡊ࡟࡯࠻ SD (ࠝ࡯ࡊࡦࠦ࡟ࠢ࠲)
(open collector)
2m or shorter
2mએਅ
10 m or shorter
10mએਅ (Note
(ᵈ7)7)
(Note 14)
(ᵈ14)
Main circuit power CN1
ਥ࿁〝㔚Ḯ
supply
(Note
(ᵈ3㧘5)3,5) Forced
ᒝ೙஗ᱛ2 stop 2 EM2 42
Servo-on
ࠨ࡯ࡏࠝࡦ SON 15 (Note 7)
(ᵈ7)
Reset
࡝࠮࠶࠻ RES 19 CN6
(Note 12)
(ᵈ12) Proportion
Ყ଀೙ᓮ control PC 17 3 MO1 Analog monitor 1
ࠕ࠽ࡠࠣࡕ࠾࠲1
External torque limit selection
±10
DC ±V10V
DC
ᄖㇱ࠻࡞ࠢ೙㒢ㆬᛯ TL 18 1 LG
±10
DC ±V10V
DC
Forward rotation stroke end
ᱜォࠬ࠻ࡠ࡯ࠢࠛࡦ࠼ LSP 43 2 MO2 Analog monitor 2
(ᵈ5)5)
(Note
Reverse rotation stroke end
ㅒォࠬ࠻ࡠ࡯ࠢࠛࡦ࠼ LSN 44
2 m2mએਅ
or shorter
DOCOM 47
Upper limit setting
਄㒢⸳ቯ
P15R 1
Analog torque limit
ࠕ࠽ࡠࠣ࠻࡞ࠢ೙㒢
TLA 27
+10V/ᦨᄢ࠻࡞ࠢ
+10 V/maximum torque
LG 28
SD ࡊ࡟࡯࠻
Plate
Personal
ࡄ࡯࠰࠽࡞ 2 m 2mએਅ
or shorter
(Note
(ᵈ9) 9) computer
ࠦࡦࡇࡘ࡯࠲
MR Configurator2 (Note
(ᵈ10)10)
USBࠤ࡯ࡉ࡞
USB cable CN5
(ࠝࡊ࡚ࠪࡦ)
(option)
+
CN8
(Note(ᵈ13)
13)
⍴⛊ࠦࡀࠢ࠲
Short-circuit connector (Note
(ᵈ1) 1)
3- 7
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the
protective earth (PE) of the cabinet.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output
signals, disabling EM2 (Forced stop 2) and other protective circuits.
3. When starting operation, always turn on EM2 (Forced stop 2). (Normally closed contact)
4. Supply 24 V DC ± 10% 500mA current for interfaces from the outside. 500mA is the value applicable when all I/O signals are
used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.9.2 (1) that gives the
current value necessary for the interface.
5. When starting operation, always turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end) and LSN (Reverse rotation
stroke end). (Normally closed contact)
6. ALM (Malfunction) turns on in normal alarm-free condition. When this signal is switched off (at occurrence of an alarm), the
output of the programmable controller should be stopped by the sequence program.
7. The pins with the same signal name are connected in the servo amplifier.
8. This length applies to the command pulse train input in the differential line driver type. It is 2 m or less in the open-collector
9. type.
10. Use SW1DNC-MRC2-J. (Refer to section 11.7.)
Personal computers can also be connected via the CN3 connector, enabling RS-422 communication (available in the future).
Note that using the USB communication function (CN5 connector) prevents the RS-422 communication function (CN3
connector) from being used, and vice versa. They cannot be used together.
Personal
ࡄ࡯࠰࠽࡞
ࠦࡦࡇࡘ࡯࠲
computer Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
RS-232C/RS-422 conversion cable
RS-232C/RS-422ᄌ឵ࠤ࡯ࡉ࡞
Recommended product: Interface cable
ផᅑຠ: ࠗࡦ࠲ࡈࠚ࡯ࠬࠤ࡯ࡉ࡞
DSV-CABV (Diatrend)
CN3
DSV-CABV(࠳ࠗࡗ࠻࡟ࡦ࠼)
To RS-232C connector
RS-232Cࠦࡀࠢ࠲߳
11. This connection is not required for QD75D. However, to enhance noise immunity, it is recommended to connect LG of servo
amplifier and control common depending on the positioning module.
14. Configure up a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier.
3- 8
3.2.2 Speed control mode

Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
(Note
(ᵈ7)7)
CN1
(ᵈ7)7)
(Note
24 VDC24V(ᵈ4)
DC (Note 4) 21 DICOM
(ᵈ2)
CN1 (Note 2)
DICOM 20 Malfunction
48 ALM RA1 ᡿㓚(ᵈ6)
(Note 6)
(Note 14)
Main circuit power supply
DOCOM 46
(ᵈ14)ਥ࿁〝㔚Ḯ Zero speed
(Note
(ᵈ3㧘5)3,5) Forced
ᒝ೙஗ᱛ2 stop 2 EM2 42 23 ZSP RA2 㔖ㅦᐲᬌ಴
detection
Servo-on
ࠨ࡯ࡏࠝࡦ SON 15 Limiting torque
25 TLC RA3 ࠻࡞ࠢ೙㒢ਛ (Note
(ᵈ12)12)
Reset
࡝࠮࠶࠻ RES 19
Speed selection 1 24 SA RA4 Speed
ㅦᐲ೔㆐ reached
ㅦᐲㆬᛯ1 SP1 41
(Note 12)
(ᵈ12) Speed
ㅦᐲㆬᛯ2 selection 2 SP2 16 Ready
49 RD RA5 Ḱ஻ቢੌ
Forward
ᱜォᆎേ rotation start ST1 17
Reverse
ㅒォᆎേ rotation start ST2 18 10 m or shorter
10mએਅ
Forward rotation stroke end
ᱜォࠬ࠻ࡠ࡯ࠢࠛࡦ࠼ LSP 43
(ᵈ5) 5)
(Note 8 LZ Encoder
ࠛࡦࠦ࡯࠳Z⋧ࡄ࡞ࠬZ-phase pulse
Reverse rotation stroke end
ㅒォࠬ࠻ࡠ࡯ࠢࠛࡦ࠼ LSN 44
9 LZR (differential
(
(Ꮕേ࡜ࠗࡦ࠼࡜ࠗࡃ) line driver)
DOCOM 47
10 10mએਅ
m or shorter 4 LA Encoder
5 LAR (Ꮕേ࡜ࠗࡦ࠼࡜ࠗࡃ)
(
Upper limit setting
਄㒢⸳ቯ 6 LB Encoder B-phase pulse
ࠛࡦࠦ࡯࠳B⋧ࡄ࡞ࠬ
P15R 1
(Note 11) Analog speed command
(ᵈ11)ࠕ࠽ࡠࠣㅦᐲᜰ઎ 7 LBR (Ꮕേ࡜ࠗࡦ࠼࡜ࠗࡃ)
VC 2
±10 V/rated speed
±10V/ቯᩰ࿁ォㅦᐲ Control
LG 28
Upper limit setting
਄㒢⸳ቯ 34 LG
(Note
(ᵈ8)8)ࠕ࠽ࡠࠣ࠻࡞ࠢ೙㒢
Analog torque limit TLA 27 33 OP Encoder Z-phase pulse
+10 V/maximum torque
+10V/ᦨᄢ࠻࡞ࠢ Plate
ࡊ࡟࡯࠻ SD (open collector)
SD Plate
ࡊ࡟࡯࠻
Personal
ࡄ࡯࠰࠽࡞ 2 m2mએਅ
or shorter
(ᵈ9) 9)
(Note 2 m2mએਅ
or shorter
computer
ࠦࡦࡇࡘ࡯࠲
MR Configurator2 (ᵈ10)10)
(Note (Note
(ᵈ7)7)
USBࠤ࡯ࡉ࡞
USB cable CN5 CN6
(ࠝࡊ࡚ࠪࡦ)
(option) 3 MO1 Analog monitor 1
±10
DC ±V10V
DC
1 LG
±10
DC ±V10V
DC
2 MO2 Analog monitor 2
CN8 2 m2mએਅ
or shorter
(Note 13)
(ᵈ13)
Short-circuit
⍴⛊ࠦࡀࠢ࠲ connector
(Note
(ᵈ1) 1)
3- 9
5. When starting operation, always turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end) and LSN (Reverse rotation
stroke end). (Normally closed contact)
6. ALM (Malfunction) turns on in normal alarm-free condition.
8. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD03] to [Pr. PD22]. (Refer to section 3.6.1
9. (5).)
Personal computers can also be connected via the CN3 connector, enabling RS-422 communication (available in the future).
Personal
ࡄ࡯࠰࠽࡞
ࠦࡦࡇࡘ࡯࠲
ࠨ࡯ࡏࠕࡦࡊ
DSV-CABV (Diatrend)
CN3
11. Use an external power supply when inputting a negative voltage.

amplifier.
3 - 10
3.2.3 Torque control mode
POINT
EM2 has the same function as EM1 in the torque control mode.
Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
(Note
(ᵈ6) 6)
CN1
(Note
(ᵈ6)6)
24 VDC24V(ᵈ4)
DC (Note 4) 21 DICOM (ᵈ2)
CN1 (Note 2)
DICOM 20 48 ALM RA1

Malfunction
᡿㓚(ᵈ5)
(Note 5)
(Note 12) DOCOM 46 Zero speed
(ᵈ12)ਥ࿁〝㔚Ḯ
23 ZSP RA2 㔖ㅦᐲᬌ಴
(Note
(ᵈ3) 3) ᒝ೙஗ᱛ2
Forced stop 2 EM2 42 detection
(Note
(ᵈ10)10)
Servo-on
ࠨ࡯ࡏࠝࡦ SON 15 Limiting speed
25 VLC RA3 ㅦᐲ೙㒢ਛ
࡝࠮࠶࠻
Reset RES 19
(Note 10)
(ᵈ10) 49 RD Ready
Ḱ஻ቢੌ
Speed
ㅦᐲㆬᛯ1 selection 1 SP1 41 RA4
Speed
ㅦᐲㆬᛯ2 selection 2 SP2 16
10 m or shorter
10mએਅ
Forward ᱜォᆎേ
rotation selection RS1 18
Reverse ㅒォᆎേ
rotation selection RS2 17 8 LZ Encoder
ࠛࡦࠦ࡯࠳Z⋧ࡄ࡞ࠬZ-phase pulse
DOCOM 47 9 LZR (Ꮕേ࡜ࠗࡦ࠼࡜ࠗࡃ)
10 10mએਅ
m or shorter
4 LA Encoder
5 LAR (differential
(Ꮕേ࡜ࠗࡦ࠼࡜ࠗࡃ) line driver)
Upper limit setting
਄㒢⸳ቯ
P15R 1 6 LB Encoder
ࠛࡦࠦ࡯࠳B⋧ࡄ࡞ࠬB-phase pulse
Analog torque command
ࠕ࠽ࡠࠣ࠻࡞ࠢᜰ઎ (Ꮕേ࡜ࠗࡦ࠼࡜ࠗࡃ)
TC 27 7 LBR
±8 V/maximum torque
±8V/ᦨᄢ࠻࡞ࠢ
LG 28 Control
Upper limit setting
਄㒢⸳ቯ
34 LG
(Note 9) Analog
(ᵈ9)ࠕ࠽ࡠࠣㅦᐲ೙㒢 speed limit VLA 2
33 OP Encoder Z-phase pulse
0 to ±10 V/rated speed
0㨪±10V/ቯᩰ࿁ォㅦᐲ
Plate
ࡊ࡟࡯࠻ SD (open collector)
(ࠝ࡯ࡊࡦࠦ࡟ࠢ࠲)
SD Plate
ࡊ࡟࡯࠻
Personal
ࡄ࡯࠰࠽࡞ 2 m or shorter
2mએਅ 2 m2mએਅ
or shorter
(Note
(ᵈ7) 7) computer
ࠦࡦࡇࡘ࡯࠲
MR Configurator2 (Note
(ᵈ8)‫ޓ‬ 8) (Note
(ᵈ6)6)
USBࠤ࡯ࡉ࡞
USB cable CN5 CN6
(ࠝࡊ࡚ࠪࡦ)
(option) Analog monitor 1
3 MO1 ࠕ࠽ࡠࠣࡕ࠾࠲1
+ ±10 ±V10V
DC DC
1 LG
±10 ±V10V
DC DC
2 MO2 Analog monitor 2
CN8
2 m2mએਅ
or shorter
(ᵈ11)
(Note 11)
⍴⛊ࠦࡀࠢ࠲
with the servo amplifier) (Note
(ᵈ1) 1)
3 - 11
5. ALM (Malfunction) turns on in normal alarm-free condition.
8. Personal computers can also be connected via the CN3 connector, enabling RS-422 communication (available in the future).
Personal
ࡄ࡯࠰࠽࡞
ࠦࡦࡇࡘ࡯࠲
ࠨ࡯ࡏࠕࡦࡊ
DSV-CABV (Diatrend)
CN3
9. Use an external power supply when inputting a negative voltage.

amplifier.
3 - 12
3.3 Explanation of power supply system
3.3.1 Signal explanations
POINT
For the layout of connector and terminal block, refer to chapter 9 DIMENSIONS.
Symbol Connection Description

destination
(application)
Supply the following power to L1, L2, and L3. For 1-phase 200 V AC to 240 V
AC, connect the power supply to L1 and L3. Leave L2 open.
Servo amplifier MR-J4-10A to MR- MR-J4-100A to

Main circuit power Power supply J4-70A MR-J4-700A
L1/L2/L3
supply 3-phase 200 V AC to 240 V L1/L2/L3
AC, 50/60 Hz
1-phase 200 V AC to 240 V L1/L3
AC, 50/60 Hz
When not using the power factor improving DC reactor, connect P3 and P4.
(factory-wired)
Power factor
P3/P4 When using the power factor improving DC reactor, disconnect P3 and P4,
improving DC reactor
and connect the power factor improving DC reactor to P3 and P4.
Refer to section 11.11 for details.
1) MR-J4-500A or less
When using a servo amplifier built-in regenerative resistor, connect P+ and
D. (factory-wired)
When using a regenerative option, disconnect P+ and D, and connect the
regenerative option to P+ and C.
(2) MR-J4-700A
P+/C/D Regenerative option MR-J4-700A does not have D.
When using a servo amplifier built-in regenerative resistor, connect P+ and
C. (factory-wired)
When using a regenerative option, disconnect wires of P+ and C for the
built-in regenerative resistor. And then connect wires of the regenerative
option to P+ and C.
Refer to section 11.2 to 11.5 for details.
Supply the following power to L11 and L21.
Servo amplifier MR-J4-10A to MR-
Control circuit power J4-700A
L11/L21 Power supply
supply
1-phase 200 V AC to 240 V AC L11/L21
Connect to the servo motor power supply terminals (U, V, and W). During
Servo motor power
U/V/W power-on, do not open or close the servo motor power supply. Otherwise, it
supply
may cause a malfunction.
When using a power regenerative converter or brake unit, connect it to P+
Regenerative
and N-.
N- converter
Do nottoconnect
Refer section it11.3
to the servofor
to 11.5 amplifier
details. MR-J4-350A or less.
Brake unit
Refer to section 11.3 to 11.5 for details.
Connect it to the grounding terminal of the servo motor and to the protective
Protective earth (PE)
earth (PE) of the cabinet for grounding.
3 - 13
3.3.2 Power-on sequence
(1) Power-on procedure

1) Always wire the power supply as shown in above section 3.1 using the magnetic contactor with
the main circuit power supply (3-phase: L1, L2, and L3, 1-phase: L1 and L3). Configure up an
external sequence to switch off the magnetic contactor as soon as an alarm occurs.
2) Switch on the control circuit power supply (L11 and L21) simultaneously with the main circuit
power supply or before switching on the main circuit power supply. If the main circuit power
supply is not on, the display shows the corresponding warning. However, by switching on the
main circuit power supply, the warning disappears and the servo amplifier will operate properly.
3) The servo amplifier receives the SON (Servo-on) 2.5 s to 3.5 s after the main circuit power supply
is switched on. Therefore, when SON (Servo-on) is switched on simultaneously with the main
circuit power supply, the base circuit will switch on in about 2.5 s to 3.5 s, and the RD (Ready) will
switch on in further about 5 ms, making the servo amplifier ready to operate. (Refer to (2) of this
section.)
4) When RES (Reset) is switched on, the base circuit is shut off and the servo motor shaft coasts.
(2) Timing chart

SON (Servo-on) accepted
SON(ࠨ࡯ࡏࠝࡦ)ฃઃߌ
(2.5 s to 3.5 s)
(2.5s䌾3.5s)
Main circuit ON
ਥ࿁〝
Control circuit 㔚Ḯ
೙ᓮ࿁〝 OFF
Power supply
ON
Baseࡌ࡯ࠬ࿁〝
circuit
OFF
10ms 10ms 95ms
ON
SONSON(ࠨ࡯ࡏࠝࡦ)
(Servo-on)
OFF 95ms
ON
RES RES(࡝࠮࠶࠻)
(Reset)
OFF
5ms 10ms 5ms 10ms 5ms 10ms
RD (Ready) ON
RD(Ḱ஻ቢੌ)
OFF
ON ή(ON)
(no alarm)
ALM (Malfunction)
ALM(᡿㓚)
OFF᦭(OFF)
(alarm)
(2.5 s to 3.5 s)
2.5s䌾3.5s
3 - 14
3.3.3 Wiring CNP1, CNP2, and CNP3
POINT
For the sizes of wires used for wiring, refer to section 11.9.
MR-J3-500A or more do not have these connectors.
Use the servo amplifier power supply connector for wiring CNP1, CNP2, and CNP3.
(1) Connector
(a) MR-J4-10A to MR-J4-100A
Servo
ࠨ࡯ࡏࠕࡦࡊamplifier
CNP1
CNP2
CNP3
Table 3.1 Connector and applicable wire

Applicable wire Stripped Manu-
Manufa
Connector Receptacle assembly Open tool
Size Insulator OD length [mm] facturer
cturer
CNP1 06JFAT-SAXGDK-H7.5
CNP2 05JFAT-SAXGDK-H5.0 AWG 18 to 14 3.9mm or shorter 9mm J-FAT-OT JST
CNP3 03JFAT-SAXGDK-H7.5
(b) MR-J4-200A/MR-J4-350A
MR-J4-200A MR-J4-350A
Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
CNP1 CNP1
CNP2 CNP3
CNP3 CNP2
CNP4
Table 3.2 Connector and applicable wire

Applicable wire Stripped Manu-
Manufa
Connector Receptacle assembly Open tool
Size Insulator OD length [mm] facturer
cturer
CNP1 06JFAT-SAXGFK-XL
AWG 16 to 10 4.7mm or shorter 11.5mm
CNP3 03JFAT-SAXGFK-XL J-FAT-OT-EXL JST
CNP2 05JFAT-SAXGDK-H5.0 AWG 18 to 14 3.9mm or shorter 9mm
3 - 15
(2) Cable connection procedure

(a) Cable making
Refer to table 3.1 and 3.2 for stripped length of cable insulator. The appropriate stripped length of
cables depends on their type, etc. Set the length considering their status.
Insulator
⛘✼૕ Core
⧌✢
Stripped length
ࠬ࠻࡝࠶ࡊ㐳ߐ
Twist strands slightly and straighten them as follows.
Loose and bent strands

⧌✢ߩࡃ࡜ࠤ߿ᦛ߇ࠅ Twist and straighten
ᔅߕ⧌✢ࠍ᠐ࠅ⋥ߒ
the strands.
ߡ⌀ߞ⋥ߋߦߔࠆ‫ޕ‬
(b) Inserting wire

Insert the open tool as follows and push down it to open the spring. While the open tool is pushed
down, insert the stripped wire into the wire insertion hole. Check the insertion depth so that the cable
insulator does not get caught by the spring.
Release the open tool to fix the wire. Pull the wire lightly to confirm that the wire is surely connected.
The following shows a connection example of the CNP3 connector for 2 kW and 3.5 kW.
1) ࠝ࡯ࡊࡦ࠷࡯࡞ࠍ᛼ߒਅߍ߹ߔ‫ޕ‬
1) Push down the open tool.
3)
3) Release the open tool to fix the wire.
ࠝ࡯ࡊࡦ࠷࡯࡞ࠍ㔌ߒߡ
㔚✢ࠍ࿕ቯߒ߹ߔ‫ޕ‬
2) Insert the wire.

㔚✢ࠍᝌ౉ߒ߹ߔ‫ޕ‬
3 - 16
3.4 Connectors and pin assignment
POINT
The pin assignment of the connectors are as viewed from the cable connector
wiring section.
For the STO I/O signal connector (CN8), refer to chapter 13.
For the CN3
CN1 connector, securely connect the shielded external conductor of the
cable to the ground plate and fix it to the connector shell.
Threads
ߨߓ
Cable
ࠤ࡯ࡉ࡞
Threads
ߨߓ
Ground plate
ࠣ࡜ࡦ࠼ࡊ࡟࡯࠻
3 - 17
The servo amplifier front view shown is that of the MR-J4-20A or less. Refer to chapter 9 DIMENSIONS for
the appearances and connector layouts of the other servo amplifiers.
CN5 (USB connector)
CN5(USBࠦࡀࠢ࠲) CN6
Refer to11.7▵ෳᾖ
section 11.7.
3
MO1
2
MO2
1
LG
CN3 (RS-422 connector)

CN3(RS-422ࠦࡀࠢ࠲)
CN8 (Available in the future.)
(ኻᔕ੍ቯ)
CN8 STO౉಴ജାภ↪ࠦࡀࠢ࠲ߦ CN1
For the STO I/O signal connector,
ߟ޿ߡߪ㧘11.13▵ࠍෳᾖߒߡ
refer to chapter
ߊߛߐ޿‫ޕ‬ 13.
1 26
2 27
3 28
4 29
5 30
6 31
7 32
8 33
9 34
10 35
11 36
12 37
CN2
13 38
2 6 10 14 39
LG 4 8 15 40
MRR MXR CN4 16 41
1 5 9 (Battery connector)
(ࡃ࠶࠹࡝↪ࠦࡀࠢ࠲)
P5 3 7 BAT 17 42
MR MX The frame of the CN1 connector is
CN1ࠦࡀࠢ࠲ߩࡈ࡟࡯ࡓߪࠕࡦ 18 43
ࡊౝㇱߢPE(ធ࿾)┵ሶߣធ⛯ߐ
connected to the protective earth
ࠇߡ޿߹ߔ‫ޕ‬ 19 44
The 3M make connector is shown.
3M⵾ࠦࡀࠢ࠲ߩ࿑ߢߔ‫ޕ‬ terminal in the servo amplifier. 20 45
21 46
22 47
23 48
24 49
25 50
3 - 18
The device assignment of CN1 connector pins changes depending on the control mode. For the pins
which are given parameters in the related parameter column, their devices will be changed using those
parameters.
(Note 1) (Note 2) I/O signals in control modes
Pin No. Related parameter
I/O P P/S S S/T T T/P
1 P15R P15R P15R P15R P15R P15R
2 I -/VC VC VC/VLA VLA VLA/-
3 LG LG LG LG LG LG
4 O LA LA LA LA LA LA
5 O LAR LAR LAR LAR LAR LAR
6 O LB LB LB LB LB LB
7 O LBR LBR LBR LBR LBR LBR
8 O LZ LZ LZ LZ LZ LZ
9 O LZR LZR LZR LZR LZR LZR
10 I PP PP/- -/PP
11 I PG PG/- -/PG
12 OPC OPC/- -/OPC
13
14
15 I SON SON SON SON SON SON Pr. PD03/Pr. PD04
16 I -/SP2 SP2 SP2/SP2 SP2 SP2/- Pr. PD05/Pr. PD06
17 I PC PC/ST1 ST1 ST1/RS2 RS2 RS2/PC Pr. PD07/Pr. PD08
18 I TL TL/ST2 ST2 ST2/RS1 RS1 RS1/TL Pr. PD09/Pr. PD10
19 I RES RES RES RES RES RES Pr. PD11/Pr. PD12
20 DICOM DICOM DICOM DICOM DICOM DICOM
21 DICOM DICOM DICOM DICOM DICOM DICOM
22 O INP INP/SA SA SA/- -/INP Pr. PD23
23 O ZSP ZSP ZSP ZSP ZSP ZSP Pr. PD24
25 O TLC TLC TLC TLC/VLC VLC VLC/TLC Pr. PD26
26
(Note 3) (Note 3) (Note 3)
27 I TLA TC TC/TLA
TLA TLA TLA/TC
28 LG LG LG LG LG LG
29
31
32
33 O OP OP OP OP OP OP
35 I NP NP/- -/NP
36 I NG NG/- -/NG
37
38
39
40
41 I CR CR/SP1 SP1 SP1/SP1 SP1 SP1/CR Pr. PD13/Pr. PD14
42 I EM2 EM2 EM2 EM2 EM2 EM2
43 I LSP LSP LSP LSP/- -/LSP Pr. PD17/Pr. PD18
44 I LSN LSN LSN LSN/- -/LSN Pr. PD19/Pr. PD20
45 I LOP LOP LOP LOP LOP LOP Pr. PD21/Pr. PD22
3 - 19
(Note 1) (Note 2) I/O signals in control modes

Pin No. Related parameter
I/O P P/S S S/T T T/P
46 DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM
47 DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM
48 O ALM ALM ALM ALM ALM ALM
49 O RD RD RD RD RD RD Pr. PD28
50
Note 1. I: input signal, O: output signal

2. P: position control mode, S: speed control mode, T: torque control mode, P/S: position/speed control switching
mode, S/T: speed/torque control switching mode, T/P: torque/position control switching mode
3. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD03] to [Pr. PD22].
3 - 20
3.5 Signal (device) explanations
For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.9.2. In the control mode
field of the table
P: position control mode, S: speed control mode, T: torque control mode
ż: devices used with initial setting status, △ : devices used by setting [Pr. PA04] and [Pr. PD03] to [Pr. PD28]
The pin numbers in the connector pin No. column are those in the initial status.
(1) I/O device

(a) Input device
Connect I/O Control
Device Symbol or pin Function and application divisi
division mode
No. on P S T
Forced stop 2 EM2 CN1-42 Turn off EM2 (open between commons) to decelerate the servo motor to a DI-1
stop with commands.
Turn EM2 on (short between commons) in the forced stop state to reset
that state.
The following shows the setting of [Pr. PA04].
[Pr. Deceleration method

PA04] EM2/EM1
EM2 or EM1 is off Alarm occurred
setting
MBR (Electromagnetic MBR (Electromagnetic
brake interlock) turns brake interlock) turns
0___ EM1
off without the forced off without the forced
stop deceleration. stop deceleration.
MBR (Electromagnetic MBR (Electromagnetic
brake interlock) turns brake interlock) turns
20__ EM2
off after the forced off after the forced
stop deceleration. stop deceleration.
EM2 and EM1 are mutually exclusive.

EM2 has the same function as EM1 in the torque control mode.
Forced stop 1 EM1 (CN1-42) When using EM1, set [Pr. PA04] to "0 _ _ _" to enable EM1. DI-1
Turn EM1 off (open between commons) to bring the motor to an forced
stop state. The base circuit is shut off, the dynamic brake is operated and
decelerate the servo motor to a stop.
Turn EM1 on (short between commons) in the forced stop state to reset
that state.
Servo-on SON CN1-15 Turn SON on to power on the base circuit and make the servo amplifier DI-1
ready to operate. (servo-on command)
Turn it off to shut off the base circuit and coast the servo motor.
Set "_ _ _ 4" in [Pr. PD01] to switch this signal on (keep terminals
connected) automatically in the servo amplifier.
Reset RES CN1-19 Turn on RES for more than 50 ms to reset the alarm. DI-1
Some alarms cannot be deactivated by RES (Reset). Refer to section 8.1.
Turning RES on in an alarm-free status shuts off the base circuit. The base
circuit is not shut off when " _ _ 1 _ " is set in [Pr. PD30].
This device is not designed to make a stop. Do not turn on it during
operation.
3 - 21
Connect I/O Control

division mode
No. on P S T
Forward rotation LSP CN1-43 To start operation, turn on LSP and LSN. Turn it off to bring the motor to a DI-1
stroke end sudden stop and make it servo-locked.
Setting [Pr. PD30] to " _ _ _ 1" will enable a slow stop.
Reverse rotation LSN CN1-44 (Note) Input device Operation

stroke end CCW CW
LSP LSN
direction direction
1 1
0 1
1 0
0 0
Note. 0: Off
1: On
Set [Pr. PD01] as indicated below to switch on the signals (keep terminals
connected) automatically in the servo amplifier.
Status
[Pr. PD01]
LSP LSN
Automatic
_4__
on
Automatic
_8__
on
Automatic Automatic
_C__
on on
When LSP or LSN turns off, [AL. 99 Stroke limit warning] occurs, and WNG
(Warning) turns off. When using WNG, enable it by the setting of [Pr.
PD23] to [Pr. PD28].
External torque TL CN1-18 Turning off TL will enable [Pr. PA11 Forward torque limit] and [Pr. PA12 DI-1
limit selection Reverse torque limit], and turning on it will enable TLA (Analog torque
limit). For details, refer to section 3.6.1 (5).
Internal torque TL1 To select [Pr. PC35 Internal torque limit 2], enable TL1 with [Pr. PD03] to DI-1
limit selection [Pr. PD22]. For details, refer to section 3.6.1 (5).
Forward rotation ST1 CN1-17 This is used to start the servo motor. DI-1
start The following shows the directions.
(Note) Input device

Servo motor starting direction
ST2 ST1
0 0 Stop (servo-lock)
0 1 CCW
1 0 CW
1 1 Stop (servo-lock)
Note. 0: Off
1: On
Reverse rotation ST2 CN1-18 If both ST1 and ST2 are switched on or off during operation, the servo
selection
start motor will be decelerated to a stop according to the [Pr. PC02] setting and
servo-locked.
When " _ _ _1" is set in [Pr. PC23], the servo motor is not servo-locked
after deceleration to a stop.
3 - 22
Connect I/O Control

division mode
No. on P S T
Forward rotation RS1 CN1-18 This is used to select a servo motor torque generation directions. DI-1
selection The following shows the torque generation directions.
(Note) Input device

Torque generation direction
RS2 RS1
0 0 Torque is not generated.
Reverse rotation RS2 CN1-17 Forward rotation in driving
selection 0 1 mode/reverse rotation in
regenerative mode
Reverse rotation in driving
1 0 mode/forward rotation in
regenerative mode
1 1 Torque is not generated.
Note. 0: Off
1: On
Speed selection SP1 CN1-41 1. For speed control mode DI-1
1 This is used to select the command speed for operation.
Speed selection SP2 CN1-16 DI-1

(Note) Input device
2 Speed command
SP3 SP2 SP1
Speed selection SP3 DI-1
0 0 0 VC (Analog speed command)
3
Pr. PC05 Internal speed
0 0 1
command 1
0 1 0
command 2
0 1 1
command 3
1 0 0
command 4
1 0 1
command 5
1 1 0
command 6
1 1 1
command 7
Note. 0: Off
1: On
2. For the torque control mode
This
This is
is used
used to
to select
select the
the limit speedspeed
command for operation.
for operation.
(Note) Input device

Speed
Speed limit
command
SP3 SP2 SP1
0 0 0 VLA (Analog speed limit)
0 0 1 Pr. PC05 Internal speed limit 1
Note. 0: Off
1: On
3 - 23
Connect I/O Control

division mode
No. on P S T
Proportion PC CN1-17 Turn PC on to switch the speed amplifier from the proportional integral type DI-1
control to the proportional type.
If the servo motor at a stop is rotated even one pulse due to any external
factor, it generates torque to compensate for a position shift. When the
servo motor shaft is to be locked mechanically after positioning completion
(stop), switching on the PC (Proportion control) upon positioning
completion will suppress the unnecessary torque generated to compensate
for a position shift.
When the shaft is to be locked for a long time, switch on the PC
(Proportion control) and TL (External torque limit selection) at the same
time to make the torque less than the rated by TLA (Analog torque limit).
Clear CR CN1-41 Turn CR on to clear the position control counter droop pulse on its leading DI-1
edge. The pulse width should be 10 ms or longer.
The delay amount set in [Pr. PB03 Position command
acceleration/deceleration time constant] is also cleared. When " _ _ _1 " is
set to [Pr. PD32], the pulses are always cleared while CR is on.
Electronic gear CM1 The combination of CM1 and CM2 enables you to select four different DI-1
selection 1 electronic gear numerators set in the parameters.
CM1 and CM2 cannot be used in the absolute position detection system.
(Note) Input device

Electronic gear numerator
CM2 CM1
0 0 Pr. PA06
Electronic gear CM2 DI-1
0 1 Pr. PC32
selection 2
1 0 Pr. PC33
1 1 Pr. PC34
Note. 0: Off
1: On
3 - 24
Connect I/O Control

division mode
No. on P S T
Gain switching CDP Turn on CDP to change the load to motor inertia ratio and gain values to DI-1
the values of [Pr. PB26] to [Pr. PB22] and [Pr. PB56] to [Pr. PB60].
Control switching LOP CN1-45 «Position/speed control change mode» DI-1 Refer to
This is used to select the control mode in the position/speed control Function/
switching mode. applicatio
n.
(Note) Control
LOP mode
0 Position
1 Speed
Note. 0: Off
1: On
«Speed/torque control change mode»

This is used to select the control mode in the speed/torque control
switching mode.
(Note) Control
LOP mode
0 Speed
1 Torque
Note. 0: Off
1: On
«Torque/position control change mode»

This is used to select the control mode in the torque/position control
switching mode.
(Note) Control
LOP mode
0 Torque
1 Position
Note. 0: Off
1: On
Second STAB2 The device allows selection of the acceleration/deceleration time constant DI-1
acceleration/dec at servo motor rotation in the speed control mode or torque control mode.
eleration The s-pattern acceleration/deceleration time constant is always uniform.
selection
(Note) Acceleration/deceleration time
STAB2 constant
0 Pr. PC01 Acceleration time
constant
Pr. PC02 Deceleration time
constant
1 Pr. PC30 Acceleration time
constant 2
Pr. PC31 Deceleration time
constant 2
Note. 0: Off
1: On
ABS transfer ABSM CN1-17 This is an ABS transfer mode request device. DI-1
mode When "_ _ _ 1" is set in [Pr. PA03] and absolute position detection system
by DIO is selected, CN1-17 pin will become ABSM. (Refer to chapter 12.)
ABS request ABSR CN1-18 This is an ABS request device. DI-1
When "_ _ _ 1" is set in [Pr. PA03] and absolute position detection system
by DIO is selected, CN1-18 pin will become ABSR. (Refer to chapter 12.)
3 - 25
(b) Output device
Connect I/O Control

Device Symbol or pin Function and application division
divisi mode
No. on P S T
Malfunction ALM CN1-48 When an alarm occurs, ALM will turn off. DO-1
When an alarm does not occur, ALM will turn on after 2.5 s to 3.5 s after
power-on.
When [Pr. PD34] is "_ _ 1 _", an alarming or warning will turn off ALM.
Ready RD CN1-49 Enabling servo-on to make the servo amplifier ready to operate will turn on DO-1
RD.
In-position INP CN1-22 When the number of droop pulses is in the preset in-position range, INP DO-1
CN1-24 will turn on. The in-position range can be changed using [Pr. PA10]. When
the in-position range is increased, INP may be on during low-speed
rotation.
INP turns on when servo-on turns on.
Speed reached SA When the servo motor speed reaches approximately setting speed, SA will DO-1
turn on. When the preset speed is 20 r/min or less, SA always turns on.
SA does not turn on even when the SON (Servo-on) is turned off or the
servo motor speed by the external force reaches the preset speed while
both ST1 (Forward rotation start) and ST2 (reverse rotation start) are off.
Limiting speed VLC CN1-25 VLC turns on when speed reaches a value limited with any of [Pr. PC05 DO-1
Internal speed limit 1] to [Pr. PC11 Internal speed limit 7] or VLA (Analog
speed limit).
This turns off when SON (Servo-on) turns off.
Limiting torque TLC TLC turns on when a generated torque reaches a value set with any of [Pr. DO-1
PA11 Forward torque limit], [Pr. PA12 Reverse torque limit], or TLA
(Analog torque limit).
Zero speed ZSP CN1-23 ZSP turns on when the servo motor speed is zero speed (50r/min) or less. DO-1
detection Zero speed can be changed with [Pr. PC17].
Forward OFF
ࠝࡈ࡟ࡌ࡞ level 1)
ᱜォᣇะ
rotation 70r/min
70 r/min 3) 20 r/min
2) 20r/min
direction ON level
ࠝࡦ࡟ࡌ࡞ (Hysteresis
(ࡅࠬ࠹࡝ࠪࠬ᏷) width)
50r/min
50 r/min [Pr. PC17]
[Pr.PC17]
Servo
0 r/min
0r/min
࿁ォㅦᐲ
speed
[Pr.PC17]
[Pr. PC17]
Reverse ON level
ࠝࡦ࡟ࡌ࡞
ㅒォᣇะ
rotation -50r/min
-50 r/min 20 r/min
20r/min
direction OFF
ࠝࡈ࡟ࡌ࡞level (ࡅࠬ࠹࡝ࠪࠬ᏷)
(Hysteresis width)
-70r/min
-70 r/min 4)
ZSP ON
(Zero speed OFF
(㔖ㅦᐲᬌ಴)
detection)
ZSP will turn on when the servo motor is decelerated to 50 r/min (at 1)),
and will turn off when the servo motor is accelerated to 70 r/min again (at
2)).
ZSP will turn on when the servo motor is decelerated again to 50 r/min (at
3)), and will turn off when the servo motor speed has reached -70 r/min (at
4)).
The range from the point when the servo motor speed has reached on
level, and ZSP turns on, to the point when it is accelerated again and has
reached off level is called hysteresis width.
Hysteresis width is 20 r/min for this servo amplifier.
Electromagnetic MBR CN1-23
CN1-25 When using the device, set operation delay time of the electromagnetic DO-1
brake interlock brake in [Pr. PC16].
When a servo-off status or alarm occurs, MBR will turn off.
Warning WNG When warning has occurred, WNG turns on. When a warning is not DO-1
occurring, turning on the power will turn off WNG after 2.5 s to 3.5 s.
Battery warning BWNG BWNG turns on when [AL. 92 Battery cable disconnection warning] or [AL. DO-1
9F Battery warning] has occurred. When the battery warning is not
occurring, turning on the power will turn off BWNG after 2.5 s to 3.5 s.
3 - 26
Connect I/O Control

divisi mode
No. on P S T
Alarm code ACD0 (CN1-24) To use these signals, set " _ _ _ 1" in [Pr. PD34]. DI-1
This signal is output when an alarm occurs.
When an alarm is not occurring, respective ordinary signals are output.
ACD1 (CN1-23) For details of the alarm codes, refer to chapter 8.
When "Enabled (absolute position detection system by DIO) (_ _ _ 1)" is
selected in [Pr. PA03] and when MBR, DB, or ALM is assigned to CN1-22
ACD2 (CN1-22)
pin, CN1-23 pin, or CN1-24 pin, selecting alarm code output will generate
[AL. Parameter error].
Variable gain CDPS CDPS turns on during gain switching. DO-1
selection
Absolute position ABSV ABSV turns on when the absolute position is undetermined. DO-1
undetermined
ABS ABSB0 (CN1-22) This is used to output ABS transmission data bit 0. When "Enabled DO-1
transmission (absolute position detection system by DIO) (_ _ _ 1)" is selected in [Pr.
data bit 0 PA03], CN1-22 pin will become ABSB0 only during ABS transfer mode.
(Refer to chapter 12.)
ABS ABSB1 (CN1-23) This is used to output ABS transmission data bit 1. When "Enabled DO-1
data bit 1 PA03], CN1-23 pin will become ABSB1 only during ABS transfer mode.
ABS ABST (CN1-25) This is used to output ABS transmission data ready. When "Enabled DO-1
data ready PA03], CN1-25 pin will become ABST only during ABS transfer mode.
During tough MTTR When a tough drive is enabled in [Pr. PA20], activating the instantaneous DO-1
drive power failure tough drive will turn on MTTR.
(2) Input signal

Connect I/O Control
division mode
No. on P S T
Analog torque TLA CN1-27 To use the signal in the speed control mode, enableAnalog
TL (External torque Anal
Analog
input
limit limit selection) with [Pr. PD23] to [Pr. PD28]. og
When TLA is enabled, torque is limited in the full servo motor output torque input
range. Apply 0 V to +10 V DC between TLA and LG. Connect the positive
terminal of the power supply to TLA. The maximum torque is generated at
+10 V. (Refer to section 3.6.1 (5).)
Resolution: 10 bits
Analog torque TC This is used to control torque in the full servo motor output torque range. Anal
Analog
input
command Apply 0 V to ±8 V DC between TC and LG. The maximum torque is og
generated at ±8 V. (Refer to section 3.6.3 (1).) The speed at ±8 V can be input
changed with [Pr. PC13].
Analog speed VC CN1-2 Apply 0 V to ±10 V DC between VC and LG. Speed set in [Pr. PC12] is Anal
Analog
input
command provided at ±10 V. (Refer to section 3.6.2 (1).) og
Resolution: 14 bits or equivalent input
Analog speed VLA Apply 0 V to ±10 V DC between VLA and LG. Speed set in [Pr. PC12] is Analog
Anal
input
limit provided at ±10 V. (Refer to section 3.6.3 (3).) og
input
Forward rotation PP CN1-10 This is used to enter a command pulse train. DI-2
pulse train NP CN1-35 For open-collector type (max. input frequency: 200 kpps)
Reverse rotation PG CN1-11 Input the forward rotation pulse train between PP and DOCOM.
pulse train NG CN1-36 Input the reverse rotation pulse train between NP and DOCOM.
For differential receiver type (max. input frequency: 4 Mpps)
Input the forward rotation pulse train between PG and PP.
Input the reverse rotation pulse train between NG and NP.
The command input pulse train form, pulse train logic, and command input
pulse train filter are changed in [Pr. PA13].
3 - 27
(3) Output signal

Connect I/O Control
division mode
No. on P S T
Encoder A- LA CN1-4 These devices output pulses of encoder output set in [Pr. PA15] in the DO-2
phase pulse LAR CN1-5 differential line driver type.
(differential line In CCW rotation of the servo motor, the encoder B-phase pulse lags the
driver) encoder A-phase pulse by a phase angle of ʌ/2.
Encoder B- LB CN1-6 The relation between rotation direction and phase difference of the A-
phase pulse LBR CN1-7 phase and B-phase pulses can be changed with [Pr. PC19].
(differential line
driver)
Encoder Z- LZ CN1-8 The encoder zero-point signal is output in the differential line driver type. DO-2
phase pulse LZR CN1-9 One pulse is output per servo motor revolution. This turns on when the
(differential line zero-point position is reached. (negative logic)
driver) The minimum pulse width is about 400 ȝs. For home position return using
this pulse, set the creep speed to 100 r/min. or less.
Encoder Z- OP CN1-33 The encoder zero-point signal is output in the open-collector type. DO-2
phase pulse
(open-collector)
Analog monitor 1 MO1 CN6-3 This is used to output the data set in [Pr. PC14] to between MO1 and LG in Analog
Anal
output
terms of voltage. og
Resolution: 10 bits or equivalent outp
ut
Analog monitor 2 MO2 CN6-2 This signal output the data set in [Pr. PC15] to between MO2 and LG in Analog
Anal
output
terms of voltage. og
Resolution: 10 bits or equivalent outp
ut
(4) Communication (available in the future)

Connect I/O Control
divisi mode
No. on P S T
RS-422 I/F SDP CN3-5 These are terminals for RS-422 communication.
SDN CN3-4
RDP CN3-3
RDN CN3-6
3 - 28
(5) Power supply

Symbol Connect I/O Control
Device or pin Function and application division
divisi mode
No. on P S T
Digital I/F power DICOM CN1-20 Input 24 V DC (24 V DC ± 10% 500 mA) for I/O interface. The power
supply input CN1-21 supply capacity changes depending on the number of I/O interface points
to be used.
For sink interface, connect + of 24 V DC external power supply.
For source interface, connect - of 24 V DC external power supply.
Open-collector OPC CN1-12 When inputting a pulse train in the open-collector type, supply this terminal
power input with the positive (+) power of 24 V DC.
Digital I/F DOCOM CN1-46 Common terminal for input device such as EM2 of the servo amplifier. This
common CN1-47 is separated from LG.
For sink interface, connect - of 24 V DC external power supply.
For source interface, connect + of 24 V DC external power supply.
15 V DC power P15R CN1-1 This outputs 15 V DC to between P15R and LG. This is available as power
supply for TC, TLA, VC, or VLA. Permissible current: 30 mA
Control common LG CN1-3 This is a common terminal for TLA, TC, VC, VLA, FPA, FPB, OP ,MO1,
CN1-28 MO2, and P15R. Pins are connected internally.
CN1-30
CN1-34
CN3-1
CN3-7
CN6-1
Shield SD Plate Connect the external conductor of the shielded wire.
3 - 29
3.6 Detailed description of signals
3.6.1 Position control mode
POINT
Adjust the logic of a positioning module and command pulse as follows.
૏⟎᳿߼࡙࠾࠶࠻ߣࠨ࡯ࡏࠕࡦࡊߩᜰ઎ࡄ࡞ࠬߩ⺰ℂࠍᰴߩࠃ߁ߦวߖߡߊߛ
ߐ޿‫ޕ‬
Q series/L series positioning module Pr. 23 setting
Command pulse logic setting
Signal type Q series/L series positioning MR-J4-_A servo amplifier [Pr.
module Pr. 23 setting PA13] setting
Open-collector type Positive logic Positive logic (_ _ 0 _)

1) Open-collector type
Negative logic Negative logic (_ _ 1 _)
Differential Positive logic (Note) Negative logic (_ _ 1 _)
(differential line
line driver
driver)type
Positive logic (Note) Positive logic (_ _ 0 _)
Note. For Q series and L series, the logic means N-side waveform. Therefore, reverse the input
pulse logic of the servo amplifier.
F series Positioning module

Command pulse logic setting
Signal type F series Positioning module MR-J4-_A servo amplifier [Pr.
(fixed) PA13] setting
Open-collector type
Negative logic Negative logic (_ _ 1 _)
Differential line driver type
(1) Pulse train input

(a) Input pulse waveform selection
You can input command pulses in any of three different forms, and can choose positive or negative
logic. Set the command pulse train form in [Pr. PA13]. Refer to section 5.2.1 for details.
(b) Connection and waveform

1) Open-collector type
Connect as follows.
Servo
DC24V
24 V DC OPC
DOCOM
Approximately
PP ⚂1.2k䕑
Approximately
NP ⚂1.2k䕑
(Note)
(ᵈ)
SD
Note. Pulse train input interface is comprised of a photocoupler.

Therefore, it may malfunction since a current is reduced when connect a resistance
to a pulse train signal line.
3 - 30
The following example shows that an input waveform has been set to the negative logic and
forward/reverse rotation pulse trains by setting "0 0 1 0" in [Pr. PA13].
(ON) (OFF) (ON) (OFF) (ON) (OFF)

Forward rotation pulse train (transistor)
ᱜォࡄ࡞ࠬ೉(࠻࡜ࡦࠫࠬ࠲)
Reverse rotation pulse train (transistor)

ㅒォࡄ࡞ࠬ೉(࠻࡜ࡦࠫࠬ࠲)
(OFF) (ON) (OFF) (ON) (OFF) (ON)
Forward rotation command

ᱜォᜰ઎ᤨ Reverseㅒォᜰ઎ᤨ
rotation command
2) Differential line driver type

Connect as follows.
Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
Approximately
PP ⚂100䕑
PG
Approximately
(ᵈ)
(Note)
NP ⚂100䕑
NG
SD

The following example shows that an input waveform has been set to the negative logic and
forward/reverse rotation pulse trains by setting "0 0 1 0" in [Pr. PA13]. The waveforms of PP, PG,
NP, and NG are based on LG.
Forward rotation pulse train
ᱜォࡄ࡞ࠬ೉
PP
PG
Reverse rotation pulse train

ㅒォࡄ࡞ࠬ೉
NP
NG
Forward ᱜォᤨ
rotation command Reverse rotation
ㅒォᤨcommand
3 - 31
(2) INP (In-position)

INP turns on when the number of droop pulses in the deviation counter falls within the preset in-position
range ([Pr. PA10]). INP may turn on continuously during a low-speed operation with a large value set as
the in-position range.
ON
SON (Servo-on)
SON(ࠨ࡯ࡏࠝࡦ)
OFF
Alarm᦭
Alarm
ࠕ࡜࡯ࡓ
No alarm
ή
In-position range
ࠗࡦࡐ࡚ࠫࠪࡦ▸࿐
Droop pulses
ḳࠅࡄ࡞ࠬ
ON
INP (In-position)
INP(ࠗࡦࡐ࡚ࠫࠪࡦ)
OFF
(3) RD (Ready)
ON
SON (Servo-on)
SON(ࠨ࡯ࡏࠝࡦ)
OFF
Alarm
᦭
Alarm
ࠕ࡜࡯ࡓ
No alarm
ή 100msએਅ
100 ms or shorter 10msએਅ
10 ms or shorter 10msએਅ
10 ms or shorter
ON
RD (Ready)
RD(Ḱ஻ቢੌ)
OFF
(4) Electronic gear switching

The combination of CM1 and CM2 enables you to select four different electronic gear numerators set in
the parameters.
As soon as CM1/CM2 is turned on or off, the numerator of the electronic gear changes. Therefore, if a
shock occurs at switching, use the position smoothing ([Pr. PB03]) to relieve the shock.
(Note) Input device
Electronic gear numerator
CM2 CM1
0 0 Pr. PA06
0 1 Pr. PC32
1 0 Pr. PC33
1 1 Pr. PC34
Note. 0: Off
1: On
3 - 32
(5) Torque limit
If the torque limit is canceled during servo-lock, the servo motor may suddenly
Cautions rotate according to position deviation in respect to the command position.
(a) Torque limit and torque

By setting [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit], torque
is always limited to the maximum value during operation. A relation between the limit value and
servo motor torque is as follows.
CWᣇะ Maximum
CW direction torque
ᦨᄢ࠻࡞ࠢ CCW direction
CCWᣇะ
࠻࡞ ࠢ
Torque
100 0 100 [%]
Torque limit value
[Pr.PA12]ߩ [Pr.PA11]ߩ
Torque limit value
in ࠻࡞ࠢ೙㒢୯
[Pr. PA12] in࠻࡞ࠢ೙㒢୯
[Pr. PA11]
A relation between the applied voltage of TLA (Analog torque limit) and the torque limit value of the
servo motor is as follows. Torque limit values will vary about 5% relative to the voltage depending on
products. At the voltage of less than 0.05 V, torque may vary as it may not be limited sufficiently.
Therefore, use this function at the voltage of 0.05 V or more.
Maximum torque Servo

ᦨᄢ࠻࡞ࠢ
࠻ TL
Torque
(Note)
(ᵈ)
࡞ DOCOM
ࠢ ±5% P15R
2k䕑
2k䕑 TLA
LG
0 Japan
ᣣᧄᛶ᛫ེ resistor SD
0 0.05
TLATLAශട㔚࿶[V]
applied voltage [V] RRS10
RRS10⋧ᒰor equivalent
TLA applied voltage vs. torque limit value
TLAශട㔚࿶ߣ࠻࡞ࠢ೙㒢୯ Connection
ធ⛯଀example
Note. This diagram is for sink I/O interface. For source I/O interface, refer to section 3.9.3.
(b) Torque limit value selection

The following shows how to select a torque limit using TL (External torque limit selection) from [Pr.
PA11 Forward torque limit] or [Pr. PA12 Reverse torque limit] and TLA (Analog torque limit).
When TL1 (Internal torque limit selection) is enabled with [Pr. PD03] to [Pr. PD22], you can select
[Pr. PC35 Internal torque limit 2].
However, if [Pr. PA11] and [Pr. PA12] value is less than the limit value selected by TL/TL1, [Pr.
PA11] and [Pr. PA12] value will be enabled.
3 - 33
(Note) Input device Enabled torque limit value

Limit value status CCW driving/CW CW driving/CCW
TL1 TL
regeneration regeneration
0 0 Pr. PA11 Pr. PA12
Pr. PA11
TLA > Pr. PA11 Pr. PA12
Pr. PA12
0 1
Pr. PA11
TLA < TLA TLA
Pr. PA12
Pr. PA11
Pr. PC35 > Pr. PA11 Pr. PA12
Pr. PA12
1 0
Pr. PA11
Pr. PC35 < Pr. PC35 Pr. PC35
Pr. PA12
TLA > Pr. PC35 Pr. PC35 Pr. PC35
1 1
TLA < Pr. PC35 TLA TLA
Note. 0: Off
1: On
(c) TLC (Limiting torque)

TLC turns on when the servo motor torque reaches the torque limited using the forward rotation
torque limit, reverse rotation torque limit or analog torque limit.
3 - 34
3.6.2 Speed control mode
(1) Speed setting

(a) Speed command and speed
The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage
of VC (Analog speed command). A relation between VC (Analog speed command) applied voltage
and the servo motor speed is as follows.
Rated speed is achieved at ±10 V with initial setting. The speed at ±10 V can be changed with [Pr.
PC12].
࿁
ォ Rated
ቯᩰ࿁ォㅦᐲspeed [r/min]
[r/min] Forward rotation (CCW)
ㅦ ᱜォ(CCW)
ᐲ
Speed[r/min]
[r/min] CCW
CCWᣇะ direction
-10
0 +10
CW direction
CWᣇะ VC applied voltage
VCශട㔚࿶ [V] [V]
Rated
[r/min]
Reverse
ㅒォ(CW)rotation (CW)
The following table indicates the rotation direction according to ST1 (Forward rotation start ) and ST2
(Reverse rotation start) combination.
(Note 1) Input device (Note 2) Rotation direction
VC (Analog speed command)
ST2 ST1 Internal speed command
Polarity: + 0V Polarity: -
Stop Stop Stop Stop
0 0
(servo-lock) (servo-lock) (servo-lock) (servo-lock)
0 1 CCW Stop CW CCW
1 0 CW (no servo-lock) CCW CW
Stop Stop Stop Stop
1 1
(servo-lock) (servo-lock) (servo-lock) (servo-lock)
Note 1. 0: Off
1: On
2) If the torque limit is canceled during servo-lock, the servo motor may suddenly rotate according to position deviation in respect
to the command position.
Normally, connect as follows.

Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
ST1
(Note)
(ᵈ)
ST2
DOCOM
P15R
2k䕑 2k䕑
VC
LG
Japan
ᣣᧄᛶ᛫ེresistor SD
RRS10 or equivalent
RRS10⋧ᒰ
3 - 35
(b) SP1 (Speed selection 1), SP2 (Speed selection 2), and speed command value
Select any of the speed settings by the internal speed commands 1 to 3 and by VC (Analog speed
command) using SP1 (Speed selection 1) and SP2 (Speed selection 2) as follows.
(Note) Input device
Speed command value
SP2 SP1
0 0 VC (Analog speed command)
0 1 Pr. PC05 Internal speed command 1
Note. 0: Off
1: On
To select VC (Analog speed command) and a speed command value of internal speed commands 1
to 7, enable SP3 (Speed selection 3) with [Pr. PD03] to [Pr. PD22].
(Note) Input device
Speed command value
SP3 SP2 SP1
0 0 1 Pr. PC05 Internal speed command 1
Note. 0: Off
1: On
You can change the speed during rotation. To accelerate/decelerate, set acceleration/deceleration
time constant in [Pr. PC01] or [Pr. PC02].
When the internal speed commands are used to command a speed, the speed does not vary with
the ambient temperature.
(2) SA (Speed reached)

SA turns on when the servo motor speed has nearly reached the speed set to the internal speed
command or analog speed command.
Internal speed
Internal speed ౝㇱㅦᐲᜰ઎2
command 2
Set speed selection
⸳ቯㅦᐲㆬᛯ ౝㇱㅦᐲᜰ઎1
command 1
ST1 or ST2 ON
ST1߹ߚߪST2
OFF
Servo motor speed
ࠨ࡯ࡏࡕ࡯࠲
࿁ォㅦᐲ
SA (Speed reached) ON
SA(ㅦᐲ೔㆐)
OFF
(3) Torque limit

As in section 3.6.1 (5)
3 - 36
3.6.3 Torque control mode
(1) Torque limit

(a) Torque command and torque
The following shows a relation between the applied voltage of TC (Analog torque command) and the
torque by the servo motor.
The maximum torque is generated at ±8 V. The speed at ±8 V can be changed with [Pr. PC13].
CCWᣇะ
CCW direction Forward rotation (CCW)
Maximum torque
ᦨᄢ࠻࡞ࠢ ᱜォ(CCW)
Torque
࠻࡞ࠢ
-8 -0.05
+0.05 +8
TC applied voltage
TCශട㔚࿶ [V] [V]
Maximum
ᦨᄢ࠻࡞ࠢtorque
CW direction
CWᣇะ
Reverse rotation (CW)
ㅒォ(CW)
Generated torque command values will vary about 5% relative to the voltage depending on products.
The torque may vary if the voltage is low (-0.05 V to 㧗0.05 V) and the actual speed is close to the
limit value. In such a case, increase the speed limit value.
The following table indicates the torque generation directions determined by RS1 (Forward rotation
selection) and RS2 (Reverse rotation selection) when TC (Analog torque command) is used.
(Note) Input device Rotation direction
TC (Analog torque command)
RS2 RS1
Polarity: + 0V Polarity: -
0 0 Torque is not generated. Torque is not generated.
CCW CW
(Forward rotation in (Reverse rotation in
0 1 driving mode/reverse driving mode/forward
rotation in regenerative rotation in regenerative
mode) mode)
Torque is not generated.
CW CCW
(Reverse rotation in (Forward rotation in
1 0 driving mode/forward driving mode/reverse
rotation in regenerative rotation in regenerative
mode) mode)
1 1 Torque is not generated. Torque is not generated.
Note. 0: Off
1: On

Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
RS1
(Note)
(ᵈ)
RS2
DOCOM
TC
-8V䌾8V
-8 V to 8 V
LG
SD
3 - 37
(b) Analog torque command offset

Using [Pr. PC38], the offset voltage of 㧙9999 mV to 㧗9999 mV can be added to the TC applied
voltage as follows.
Maximum torque
ᦨᄢ࠻࡞ࠢ
Torque
࡞
ࠢ
[Pr.PC38]
ࠝࡈ࠮࠶࠻▸࿐
offset range
-9999mV䌾9999mV
-9999mV to 9999mV
0 8(-8)
TCTCශട㔚࿶[V]
applied voltage [V]
(2) Torque limit

By setting [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit], torque is
always limited to the maximum value during operation. A relation between limit value and servo motor
torque is as in section 3.6.1 (5).
Note that TLA (Analog torque limit) is unavailable.
(3) Speed limit

(a) Speed limit value and speed
The speed is limited to the values set with [Pr. PC05 Internal speed limit 0] to [Pr. PC11 Internal
speed limit 7] or the value set in the applied voltage of VLA (Analog speed limit). A relation between
VLA (Analog speed limit) applied voltage and the servo motor speed is as follows.
When the servo motor speed reaches the speed limit value, torque control may become unstable.
Make the set value more than 100 r/min greater than the desired speed limit value.
࿁
ォ Rated
[r/min] Forward rotation (CCW)
ㅦ ᱜォ(CCW)
Speed [r/min]
ᐲ
CCW
CCWᣇะ direction
[r/min]
-10
0 +10
CW direction
CWᣇะ VLA applied voltage
VLAශട㔚࿶ [V] [V]
Rated
[r/min]
Reverse rotation (CW)
ㅒォ(CW)
The following table indicates the limit direction according to RS1 (Forward rotation selection) and
RS2 (Reverse rotation selection) combination.
(Note) Input device Speed limit direction
VLA (Analog speed limit)
RS1 RS2 Internal speed command
Polarity: + Polarity: -
1 0 CCW CW CCW
0 1 CW CCW CW
Note. 0: Off
1: On
3 - 38

Servo
SP1
(Note)
(ᵈ)
SP2
DOCOM
P15R
2k䕑 2k䕑
VLA
LG
Japan resistor
ᣣᧄᛶ᛫ེ SD
RRS10 or equivalent
RRS10⋧ᒰ
(b) Speed limit value selection

Select any of the speed settings by the internal speed limits 1 to 7 and by VLA (Analog speed limit)
using SP1 (Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3) as follows.
(Note) Input device
Speed limit
SP3 SP2 SP1
0 0 0 VLA (Analog speed limit)
Note. 0: Off
1: On
When the internal speed limits 1 to 7 are used to limit a speed, the speed does not vary with the
ambient temperature.
(c) VLC (Limiting speed)

VLC turns on when the servo motor speed reaches a speed limited with internal speed limits 1 to 7
or analog speed limit.
3 - 39
3.6.4 Position/speed control switching mode
Set " _ _ _ 1" in [Pr. PA01] to switch to the position/speed control switching mode. This function is not
available in the absolute position detection system.
(1) LOP (control switching)

Use LOP (Control switching) to switch between the position control mode and the speed control mode
with an external contact. The following shows a relation between LOP and control modes.
(Note)
Control mode
LOP
0 Position control mode
1 Speed control mode
Note. 0: Off
1: On
You can switch the control mode in the zero speed status. To ensure safety, switch modes after the
servo motor has stopped. When position control mode is switched to speed control mode, droop pulses
will be reset.
If LOP is switched on/off at the speed higher than the zero speed, the control mode cannot be changed
regardless of the speed. The following shows a switching timing chart.
Position control mode Speed
૏⟎೙ᓮࡕ࡯࠼ control mode Position
ㅦᐲ೙ᓮࡕ࡯࠼ ૏⟎೙ᓮࡕ࡯࠼ control mode
Zero speed
㔖ㅦᐲ
Servo motorࠨ࡯ࡏࡕ࡯࠲
speed level ࡟ࡌ࡞
࿁ォㅦᐲ
ON
ZSP (Zero speed detection)
ZSP(㔖ㅦᐲᬌ಴)
OFF
ON
LOP (Control switching)
LOP(೙ᓮಾ឵߃) (Note)
(ᵈ) (Note)
(ᵈ)
OFF
Note. When ZSP is not turned on, the control mode is not switched even if LOP is turned
on/off. After LOP is turned on/off, even if ZSP is turned on, the control mode is not
switched.
(2) Torque limit in position control mode

3 - 40
(3)
(3 Speed
)Speed setting in in
setting speed control
speed mod
control mode
(a) Speed command and speed
The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage
of VC (Analog speed command). The relation between an applied voltage of VC (Analog speed
command) and servo motor speed, and the rotation direction with turning on ST1/ST2 are the same
as section 3.6.2 (1) (a).
Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
ST1
(Note)
(ᵈ)
ST2
DOCOM
P15R
2k䕑 2k䕑
VC
LG
Japan
ᣣᧄᛶ᛫ེresistor SD
RRS10 or equivalent
RRS10⋧ᒰ
(b) Speed command value selection

Select any of the speed settings by the internal speed commands 1 to 3 and by VC (Analog speed
command) using SP1 (Speed selection 1) and SP2 (Speed selection 2) as follows.
(Note) Input device
Speed command value
SP2 SP1
0 0 VC (Analog speed command)
Note. 0: Off
1: On
To select VC (Analog speed command) and a speed command value of internal speed commands 1
to 7, enable SP3 (Speed selection 3) with [Pr. PD03] to [Pr. PD22].
(Note) Input device
Speed command value
SP3 SP2 SP1
Note. 0: Off
1: On
You can change the speed during rotation. Acceleration/deceleration is performed with the setting
values of [Pr. PC01] and [Pr. PC02].
When the internal speed commands 1 to 7 are used to command a speed, the speed does not vary
with the ambient temperature.
3 - 41
(c) SA (Speed reached)

3.6.5 Speed/torque control switching mode
Set " _ _ _ 3" in [Pr. PA01] to switch to the speed/torque control switching mode.

Use LOP (Control switching) to switch between the speed control mode and the torque control mode
(Note) Control mode
%QPVTQNOQFG
LOP
0 Speed control mode
1 Torque control mode
Note. 0: Off
1: On
The control mode may be switched at any time. The following shows a switching timing chart.
Speed control mode Torque
ㅦᐲ೙ᓮࡕ࡯࠼ control mode Speed
࠻࡞ࠢ೙ᓮࡕ࡯࠼ control mode
ㅦᐲ೙ᓮࡕ࡯࠼
ON
LOP (ControlLOP(೙ᓮಾ឵߃)
switching)
OFF
Servo motor ࠨ࡯ࡏࡕ࡯࠲

speed
࿁ォㅦᐲ
(Note)
(ᵈ)
TC (Analog torque command) Load torque

⽶⩄࠻࡞ࠢ
TC(ࠕ࠽ࡠࠣ 10V
࠻࡞ࠢᜰ઎)
Forward
ᱜォജⴕrotation in driving mode
0
Note. When ST1 (Forward rotation start) and ST2 (Reverse rotation start) are switched off
as soon as a mode is switched to the speed control, the servo motor comes to a stop
according to the deceleration time constant. A shock may occur at switching control
modes.
(2) Speed setting in speed control mode

(3) Torque limit in speed control mode

(4) Speed limit in torque control mode

(a) Speed limit value and speed
The speed is limited to the limit value of the parameter or the value set in the applied voltage of VLA
(Analog speed limit).
A relation between the VLA (Analog speed limit) applied voltage and the limit value is as in section
3.6.3 (3) (a).
3 - 42

Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
(Note)
(ᵈ)
SP1
DOCOM
P15R
2k䕑
2k䕑 VLA
LG
Japan resistor
ᣣᧄᛶ᛫ེ SD
RRS10⋧ᒰ
RRS10 or equivalent
(b) Speed limit value selection

Select any of the speed settings by the internal speed limit 1 and by VLA (Analog speed limit) using
SP1 (Speed selection 1) as follows.
(Note) Input device
Speed command value
SP1
0 VLA (Analog speed limit)
1 Pr. PC05 Internal speed limit 1
Note. 0: Off
1: On
You can change the speed during rotation. To accelerate/decelerate, set acceleration/deceleration
time constant in [Pr. PC01] or [Pr. PC02].
When the internal speed command 1 is used to command a speed, the speed does not vary with the
ambient temperature.
(c) VLC (Limiting speed)

As in section 3.6.3 (3) (c)
(5) Torque control in torque control mode

(6) Torque limit in torque control mode

3 - 43
3.6.6 Torque/position control switching mode
Set " _ _ _ 5" in [Pr. PA01] to switch to the torque/position control switching mode.

Use LOP (Control switching) to switch between the torque control mode and the position control mode
(Note)
Control mode
LOP
0 Torque control mode
1 Position control mode
Note. 0: Off
1: On
You can switch the control mode in the zero speed status. To ensure safety, switch modes after the
servo motor has stopped. When position control mode is switched to torque control mode, droop pulses
will be reset.
If LOP is switched on/off at the speed higher than the zero speed, the control mode cannot be changed
regardless of the speed. The following shows a switching timing chart.
Position control mode Torque
૏⟎೙ᓮࡕ࡯࠼ control mode
࠻࡞ࠢ೙ᓮࡕ࡯࠼ ૏⟎೙ᓮࡕ࡯࠼
Position control mode
Zero 㔖ㅦᐲ
speed
Servo motor speed
ࠨ࡯ࡏࡕ࡯࠲ level ࡟ࡌ࡞
࿁ォㅦᐲ
10V
TC (Analog torque command)
TC(ࠕ࠽ࡠࠣ
࠻࡞ࠢᜰ઎)
0V
ON
ZSP (Zero speed detection)
ZSP(㔖ㅦᐲᬌ಴)
OFF
ON
LOP (Control switching)
LOP(೙ᓮಾ឵߃)
OFF
(2) Speed limit in torque control mode

(3) Torque control in torque control mode

(4) Torque limit in torque control mode

(5) Torque limit in position control mode

3 - 44
3.7 Forced stop deceleration function
POINT
When alarms not related to the forced stop function occur, control of motor
deceleration can not be guaranteed. (Refer to chapter 8.)
In the torque control mode, the forced stop deceleration function is not available.
3.7.1 Forced stop deceleration function (SS1)
When EM2 is turned off, dynamic brake will start to stop the servo motor after forced stop deceleration.
During this sequence, the display shows [AL. E6 Servo forced stop warning].
During normal operation, do not use EM2 (Forced stop 2) to alternate stop and run. The the servo amplifier
life may be shortened.
(1) Connection diagram

Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
24 V DC
DC24V
DICOM
(Note)
(ᵈ)
Forced
ᒝ೙஗ᱛ2 EM2
stop 2
3 - 45
(2) Timing chart
POINT
When LSP/LSN is turned on during a forced stop deceleration, the motor will
stop depending on the setting of [Pr. PD30] as follows.
[Pr.
Stop system
PD30]
___0 Switching to sudden stop
___1 Continuing forced stop deceleration
When EM2 (Forced stop 2) turns off, the motor will decelerate according to [Pr. PC51 Forced stop
deceleration time constant]. Once the motor speed is below [Pr. PC17 Zero speed], base power is cut
and the dynamic brake activates.
ON
EM2 (Forced stop 2)
EM2(ᒝ೙஗ᱛ2)
OFF (Enabled)
OFF(᦭ല)
Dynamic brake
࠳ࠗ࠽ࡒ࠶ࠢࡉ࡟࡯ࠠ
Ordinary Forced stop ++
operation
ㅢᏱㆇォ deceleration
ᒝ೙஗ᱛᷫㅦ Electromagnetic
㔚⏛ࡉ࡟࡯ࠠ brake
Rated
ቯᩰ࿁ォㅦᐲSpeed
Servo motor speed

ࠨ࡯ࡏࡕ࡯࠲
࿁ォㅦᐲ
Command
ᜰ઎ Zero speed
㔖ㅦᐲ([Pr.PC17])
([Pr. PC17])
00r/min
r/min
Deceleration
ᷫㅦᤨ㑆time
[Pr.PC51]
Base
ࡌ࡯ࠬ࿁〝circuit ON
(Energy supply to
(ࠨ࡯ࡏࡕ࡯࠲߳ߩ
the servo motor)
ࠛࡀ࡞ࠡଏ⛎) OFF
MBR
MBR(㔚⏛ࡉ࡟࡯ࠠ ON
ࠗࡦ࠲ࡠ࠶ࠢ)
(Electromagnetic OFF(᦭ല)
OFF (Enabled)
brake interlock)
3 - 46
3.7.2 Base circuit shut-off delay time function
The base circuit shut-off delay time function is used to maintain power at the motor for a specified time delay
after a forced stop activation (EM2 goes off). The time between completion of EM2 (Forced stop 2) or
activation of MBR (Electromagnetic brake interlock) due to an alarm occurrence, and the time at which the
base is cut, is the base cut delay time and is set by [Pr. PC16].
(1) Timing chart

ON When EM2 (Forced stop 2) turns off or an
EM2 (Forced stop 2)
EM2(ᒝ೙஗ᱛ2)
OFF (Enabled)
OFF(᦭ല) alarm occurs during driving, the servo motor
will decelerate based on the deceleration
time constant. MBR (Electromagnetic brake
interlock) will turn off, and then after the
Servo motor speed
ࠨ࡯ࡏࡕ࡯࠲
࿁ォㅦᐲ
delay time set in [Pr. PC16], the servo
amplifier will be base circuit shut-off status.
00r/min
r/min
Base circuit
ࡌ࡯ࠬ࿁〝 ON
(Energy supply to
ࠛࡀ࡞ࠡଏ⛎)
the servo motor) OFF
[Pr. PC16]
[Pr.PC16]
MBR
MBR(㔚⏛ࡉ࡟࡯ࠠ ON
(Electromagnetic
ࠗࡦ࠲ࡠ࠶ࠢ) OFF (Enabled)
OFF(᦭ല)
brake interlock)
(2) Adjustment
While the servo motor is stopped, turn off EM2 (Forced stop 2), adjust the base circuit shut-off delay
time in [Pr. PC16], and set the value to approximately 1.5 times of the smallest delay time in which the
servo motor shaft does not freefall.
3 - 47
3.7.3 Vertical axis freefall prevention function
The vertical axis freefall prevention function avoids machine damage by pulling up the shaft slightly like the
following case.
When the servo motor is used for operating vertical axis, the servo motor electromagnetic brake and the
base circuit shut-off delay time function avoid dropping axis at forced stop. However, the functions may not
avoid dropping axis a few ȝm due to the backlash of the servo motor electromagnetic brake.
The vertical axis freefall prevention function is enabled with the following conditions.
Other than "0" is set to [Pr. PC54 Vertical axis freefall prevention compensation amount].
The servo motor speed decelerates lower than the value of zero speed by turning off EM2 (Forced stop
2) or by an alarm occurrence.
The base circuit shut-off delay time function is enabled.
(1) Timing chart

ON
EM2 (Forced stop 2)
EM2(ᒝ೙஗ᱛ2)
OFF(᦭ല)
OFF (Enabled)
Position
૏⟎ Travel distance
⒖േ㊂
Base circuit
ࡌ࡯ࠬ࿁〝 ON
(Energy supply to
ࠛࡀ࡞ࠡଏ⛎)
MBR MBR ON Set the base circuit shut-off delay time. ([Pr. PC16])
ࡌ࡯ࠬㆤᢿㆃᑧᤨ㑆ࠍᔅߕ⸳ቯߒߡߊߛߐ޿‫[(ޕ‬Pr.PC16])
(㔚⏛ࡉ࡟࡯ࠠ
(Electromagnetic
brakeࠗࡦ࠲ࡠ࠶ࠢ)
interlock) OFF (Enabled)
OFF(᦭ല)
Actual operation of Disabled

ήല
㔚⏛ࡉ࡟࡯ࠠታ૞േ
electromagnetic brake Enabled
᦭ല
(2) Adjustment
Set the freefall prevention compensation amount in [Pr. PC54].
While the servo motor is stopped, turn off the EM2 (Forced stop 2). Adjust the base circuit shut-off
delay time in [Pr. PC16] in accordance with the travel distance ([Pr. PC54). Adjust it considering the
freefall prevention compensation amount by checking the servo motor speed, torque ripple, etc.
3.7.4 Residual risks of the forced stop function (EM2)
(1) The forced stop function is not available for alarms that activate the dynamic brake when the alarms
occur.
(2) When an alarm that activates the dynamic brake during forced stop deceleration occurs, the braking
distance until the servo motor stops will be longer than that of normal forced stop deceleration without
the dynamic brake.
(3) If STO is turned off during forced stop deceleration, [AL.63 STO timing error] will occur.
3 - 48
3.8 Alarm occurrence timing chart
When an alarm has occurred, remove its cause, make sure that the operation
Cautions signal is not being input, ensure safety, and reset the alarm before restarting
operation.
POINT
To deactivate an alarm, cycle the control circuit power, push the "SET" button in the current alarm window,
or cycle the RES (Reset) However, the alarm cannot be deactivated unless its cause is removed.
3.8.1 When you use the forced stop deceleration function
POINT
To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].
(1) When the forced stop deceleration function is enabled

Alarm occurrence
ࠕ࡜࡯ࡓ⊒↢
(Note)
(ᵈ)
Servo motor speed
ࠨ࡯ࡏࡕ࡯࠲ Model
ࡕ࠺࡞ㅦᐲᜰ઎ =0
speed command 0 and
࿁ォㅦᐲ ߆ߟ㔖ㅦᐲએਅ
equal to or less than zero speed
00r/min
r/min
Command is ignored.
ᜰ઎ࠍήⷞߔࠆ‫ޕ‬
Base circuit
ࡌ࡯ࠬ࿁〝 ON
(Energy supply to
the servoࠛࡀ࡞ࠡଏ⛎)
motor) OFF
Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ⴫␜ㇱdisplay No alarm
ࠕ࡜࡯ࡓߥߒ Alarm
ࠕ࡜࡯ࡓ⇟ภNo.
MBR MBR ON
(㔚⏛ࡉ࡟࡯ࠠ
(Electromagnetic
ࠗࡦ࠲ࡠ࠶ࠢ) OFF
brake interlock)
ON (no alarm)
ON(ή)
ALM (Malfunction)
ALM(᡿㓚)
OFF (alarm)
OFF(᦭)
Note. The model speed command is a speed command generated in the servo amplifier for forced stop
deceleration of the servo motor.
3 - 49
(2) When the forced stop deceleration function is not enabled

Alarm occurrence
ࠕ࡜࡯ࡓ⊒↢
Braking by the dynamic brake
࠳ࠗ࠽ࡒ࠶ࠢࡉ࡟࡯ࠠߦࠃࠆ೙േ
Dynamic brake
Servo motor speed
ࠨ࡯ࡏࡕ࡯࠲ +
+ Braking by the electromagnetic brake
㔚⏛ࡉ࡟࡯ࠠߦࠃࠆ೙േ
࿁ォㅦᐲ
00r/min
r/min
Base circuit
ࡌ࡯ࠬ࿁〝 ON
(Energy supply to
ࠛࡀ࡞ࠡଏ⛎)
Servo amplifier display

ࠨ࡯ࡏࠕࡦࡊ⴫␜ㇱ No alarm
ࠕ࡜࡯ࡓߥߒ Alarm No.
ࠕ࡜࡯ࡓ⇟ภ
Operation delay time of the electromagnetic brake
㔚⏛ࡉ࡟࡯ࠠ૞േㆃࠇᤨ㑆
MBR MBR ON
(Electromagnetic
(㔚⏛ࡉ࡟࡯ࠠ
ࠗࡦ࠲ࡠ࠶ࠢ)
brake interlock) OFF
ON (no alarm)
ON(ή)
ALM(᡿㓚)
ALM (Malfunction)
OFF OFF(᦭)
(alarm)
3.8.2 When you do not use the forced stop deceleration function
POINT
To disable the function, set "0 _ _ _" in [Pr. PA04].
The operation status during an alarm is the same as section 3.8.1 (2).
3 - 50
3.9 Interfaces
3.9.1 Internal connection diagram
POINT
Refer to section 13.3.1 for the CN8 connector.
Servo
(Note (Note
(ᵈ1) 1)
(ᵈ1) 1)
Approximately CN1 P S T
P S T CN1 ⚂6.2k䕑
SON SON SON 15 21 DICOM
SP2 SP2 16
22 INP SA RA
PC ST1 RS2 17
TL ST2 RS1 18 23 ZSP ZSP ZSP
RES RES RES 19 (Note 3)
(ᵈ3)
(Note 3)
(ᵈ3) 24 INP SA
CR SP1 SP1 41
EM2 42 25 TLC TLC TLC
LSP LSP 43
Approximately 48 ALM
LSN LSN 44
⚂6.2k䕑
LOP LOP LOP 45 49 RD RD RD RA
DOCOM 46
Isolated
⛘✼ߐࠇߡ޿߹ߔ
24 V DC
DC24V OPC 12 (Note
(ᵈ1) 1)
DICOM 20 CN1 P S T
DOCOM 47 Approximately Approximately
4 LA
(Note 2)
(ᵈ2) ⚂100䕑 ⚂1.2k䕑
PP 10 5 LAR
PG 11 Approximately Approximately Differential
Ꮕേ࡜ࠗࡦline
⚂100䕑 ⚂1.2k䕑 6 LB
driver
࠼࡜ࠗࡃ಴ജoutput
NP 35 7 LBR (35mA or less)
(35mAએਅ)
NG 36 8 LZ
9 LZR
33 OP Open
ࠝ࡯ࡊࡦ collector
(Note
(ᵈ1) 1) 34 LG output
ࠦ࡟ࠢ࠲಴ജ
P S T CN1 (Note
(ᵈ1) 1)
RS-422
VC VLA 2 CN3 P S T (Available
(ኻᔕ੍ቯ) in the future.)
5 SDP
TLA TLA TC 27 4 SDN
15 V DC 3 RDP
DC15V
P155 1 6 RDN
1 LG
LG 3 7 LG
LG 28
(Note
(ᵈ1) 1)
LG 30
CN6 P S T Analog monitor
ࠕ࠽ࡠࠣࡕ࠾࠲
SD Case
ࠤ࡯ࠬ
3 MO1
2 MO2 ± 10±V10V
DC DC
(Note 1)
(ᵈ1) ±DC
10±V10V
DC
P S T CN5 1 LG
VBUS 1 (Note
(ᵈ1) 1) Servo motor
ࠨ࡯ࡏࡕ࡯࠲
D- 2 CN2 P S T Encoder
USB ࠛࡦࠦ࡯࠳
D+ 3 7 MD
GND 5 8 MDR
3 MR
4 MRR
2 LG
E
M
3 - 51
Note 1. P: position control mode, S: speed control mode, T: torque control mode
2. This is for the differential line driver pulse train input. For the open-collector pulse train input, connect as follows.
DOCOM 46
24DC24V
V DC OPC 12
DICOM 20
DOCOM 47
PP 10
PG 11
NP 35
NG 36
3.9.2 Detailed description of interfaces
This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in
section 3.5. Refer to this section and make connection with the external device.
(1) Digital input interface DI-1

Turn on/off the input signal with a relay or open-collector transistor. The following is a connection
diagram for sink input. Refer to section 3.9.3 for source input.
Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
For transistor
࠻࡜ࡦࠫࠬ࠲ߩ႐ว
EM2,
EM2
Approximately
⚂5mA 5 mA etc.
ߥߤ
Approximately
⚂6.2k䕑 6.2kȍ
Switch
ࠬࠗ࠶࠴
TR
DICOM
VCES ҇ 1.0V DC24V
24 V DC ± 10%
ICEO ҇ 100μA 500mA
(2) Digital output interface DO-1

A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush
current suppressing resistor (R) for a lamp load.
(Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less) A
maximum of 2.6 V voltage drop occurs in the servo amplifier.
The following shows a connection diagram for sink output. Refer to section 3.9.3 for source output.
Servo
࠳ࠗࠝ࡯࠼ߩᭂᕈࠍ
If polarity of diode is
㑆㆑߃ࠆߣࠨ࡯ࡏࠕ
reversed, servo amplifier
will malfunction.
ALM,
ALM Load
⽶⩄ ࡦࡊ߇᡿㓚ߒ߹ߔ‫ޕ‬
etc.
ߥߤ
DOCOM
(ᵈ)DC24V
(Note) 24 V DC ± 10%
500mA
Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high
voltage (maximum of 26.4 V) from external source.
3 - 52
(3) Pulse train input interface DI-2

Give a pulse train signal in the differential line driver type or open-collector type.
(a) Differential line driver type

1) Interface
Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
Max. ᦨᄢ౉ജࡄ࡞ࠬ
input pulse frequency
10 10mએਅ
m or shorter 4 Mpps
๟ᵄᢙ(Note4Mpps(ᵈ2)
2)
PP(NP)
Approximately
(Note 1)
(ᵈ1) ⚂100䕑
PG(NG)
Am26LS31 or equivalent
Am26LS31⋧ᒰ SD
VOH: 2.5V
VOL: 0.5V
Note 1. Pulse train input interface is comprised of a photocoupler.

Therefore, it may malfunction since a current is reduced when connect a
resistance to a pulse train signal line.
2. When the input pulse frequency is 4 Mpps, set [Pr. PA13] to "_ 0 _ _".
2) Input pulse condition

tc tHL tLH = tHL < 50ns
0.9 tc > 75ns
PP PG
0.1 tF > 3μs
tc tLH
tF
NP NG
(b) Open-collector type

1) Interface
Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
Max. input pulse
DC24V
24 V DC ᦨᄢ౉ജࡄ࡞ࠬ
OPC frequency 200 kpps
๟ᵄᢙ 200kpps
Approximately
⚂1.2k䕑
2 m2mએਅ
or shorter
(Note)
(ᵈ)
PP㧘NP
DOCOM
SD

3 - 53
2) Input pulse condition

tc tHL tLH = tHL < 0.2μs
0.9 tc > 2μs
PP
0.1 tF > 3μs
tc tLH
tF
NP
(4) Encoder output pulse DO-2

(a) Open-collector type
Interfaces
Maximum sink current: 35 mA
5 VDC to 24
DC5V V DC
24V
Servo
ࠨ࡯ࡏࠕࡦࡊamplifier Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
OP OP
Photocoupler
ࡈࠜ࠻ࠞࡊ࡜
LG LG
SD SD
(b) Differential line driver type

1) Interface
Maximum output current: 35 mA
Servo
ࠨ࡯ࡏࠕࡦࡊamplifier Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
LA LA
Am26LS32⋧ᒰ
Am26LS32 or equivalent 100䕑
(LB㧘LZ) (LB㧘LZ)
150䕑
LAR LAR High-speed

㜞ㅦࡈࠜ࠻ࠞࡊ࡜photocoupler
(LBR㧘LZR) (LBR㧘LZR)
LG
SD SD
3 - 54
2) Output pulse
Servo motor CCW rotation
ࠨ࡯ࡏࡕ࡯࠲CCW࿁ォ
LA Time cycle (T) is determined by the settings of
๟ᦼ(T)ߪ[Pr.PA15]߅ࠃ߮[Pr.PC19]ߩ⸳ቯߢ
[Pr. PA15] and [Pr. PC19].
᳿߹ࠅ߹ߔ‫ޕ‬
LAR T
LB
LBR
/2
LZ
LZR
400 ȝs or more
400μsએ਄
OP
(5) Analog input

Input impedance
10 kȍ to 12 kȍ
Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
+DC
15+V15V
DC
P15R
Upper limit setting 2 kȍ

਄㒢⸳ቯ2k䕑 VC , etc.
VCߥߤ
2k䕑
Approximately
⚂10k䕑
10 kȍ
LG
SD
(6) Analog output

Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
MO1
(MO2)
Output
಴ജ㔚࿶: voltage: ±10 V (Note)
±10V(ᵈ)
Maximum
ᦨᄢ಴ജ㔚ᵹ: output
1mAcurrent: 1 mA
LG
ಽ⸃⢻: 10ࡆ࠶࠻⋧ᒰ
Resolution: 10 bits or equivalent
Note. Output voltage range varies depending on the monitored signal.
3 - 55
3.9.3 Source I/O interfaces
In this servo amplifier, source type I/O interfaces can be used. In this case, all DI-1 input signals and DO-1
output signals are of source type. Perform wiring according to the following interfaces.
(1) Digital input interface DI-1

Servo
For transistor
EM2,
EM2
etc.
ߥߤ
Approximately
⚂6.2k䕑6.2kȍ
TR Switch
ࠬࠗ࠶࠴
DICOM
Approximately
⚂5mA 5 mA 24DC24V
V DC ± 10%
VCES ҇ 1.0V 500mA
ICEO ҇ 100μA
(2) Digital output interface DO-1

A maximum of 2.6 V voltage drop occurs in the servo amplifier.
Servo
If࠳ࠗࠝ࡯࠼ߩᭂᕈࠍ
polarity of diode is
㑆㆑߃ࠆߣࠨ࡯ࡏࠕ
reversed, servo amplifier
will malfunction.
ALM,
ALM Load
⽶⩄ ࡦࡊ߇᡿㓚ߒ߹ߔ‫ޕ‬
etc.
ߥߤ
DOCOM
(ᵈ)DC24V
(Note) 24 V DC ± 10%
500mA
3 - 56
3.10 Servo motor with an electromagnetic brake
3.10.1 Safety precautions
Configure an electromagnetic brake circuit so that it is activated also by an

external EMG stop switch.
Contacts must be opened when ALM (Malfunction)
ALM(᡿㓚)䉥䊐߹ߚߪMBR(㔚⏛ࡉ࡟࡯ࠠࠗࡦ࠲ Contacts must be opened with the
㕖Ᏹ஗ᱛࠬࠗ࠶࠴ߢㆤᢿߒߡߊߛߐ޿‫ޕ‬
or MBR (Electromagnetic brake interlock) turns off.
ࡠ࠶ࠢ)䉥䊐ߢㆤᢿߒߡߊߛߐ޿‫ޕ‬ EMG stop switch.
Servo
RA
㔚⏛ 24 V DC
B DC24V
ࡉ࡟࡯ࠠ U
Cautions Electromagnetic brake
The electromagnetic brake is provided for holding purpose and must not be used
for ordinary braking.
Before operating the servo motor, be sure to confirm that the electromagnetic
brake operates properly.
Do not use the 24 V DC interface power supply for the electromagnetic brake.
Always use the power supply designed exclusively for the electromagnetic brake.
Otherwise, it may cause a malfunction.
POINT
Refer to the Servo Motor Instruction Manual (Vol. 3) for specifications such as
the power supply capacity and operation delay time of the electromagnetic
brake.
Refer to the Servo Motor Instruction Manual (Vol. 3) or section 11.19 for the
selection of a surge absorber for the electromagnetic brake.
Note the following when the servo motor with an electromagnetic brake is used.
1) The brake will operate when the power (24 V DC) turns off.
2) The status is base circuit shut-off during RES (Reset) on. When you use the motor in vertical axis
system, use MBR (Electromagnetic brake interlock).
3) Turn off SON (Servo-on) after the servo motor stopped.

Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
(ᵈ2)2)
(Note
MBR ALM
24 V DC Servo motor
ࠨ࡯ࡏࡕ࡯࠲
DC24V (ᵈ1)
RA1 (Malfaunction)
(᡿㓚) B1
DOCOM
(Note 1)
DICOM 24 V DC
DC24V U B
MBR RA1
B2
Note 1. Create the circuit in order to shut off by interlocking with the emergency stop switch.
2. Do not use the 24 V DC interface power supply for the electromagnetic brake.
3 - 57
(2) Setting
(a) Enable MBR (Electromagnetic brake interlock) with [Pr. PD03] to [Pr. PD22].
(b) In [Pr. PC16 Electromagnetic brake sequence output], set the time delay (Tb) from electromagnetic
brake operation to base circuit shut-off at a servo-off as in the timing chart in section 3.10.2 (1).
3.10.2 Timing chart
(1) When you use the forced stop deceleration function
POINT
To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].
(a) SON (Servo-on) on/off

When SON (Servo-on) is turned off, the servo lock will be released after Tb [ms], and the servo
motor will coast. If the electromagnetic brake is enabled during servo-lock, the brake life may be
shorter. Therefore, set Tb about 1.5 times of the minimum delay time where the moving part will not
drop down for a vertical axis system, etc.
ࡈ࡝࡯࡜ࡦ
Coasting
Servoࠨ࡯ࡏࡕ࡯࠲
motor speed
0 r/min
࿁ォㅦᐲ
(95ms)
(95 ms) Tb
ON
Baseࡌ࡯ࠬ࿁〝
circuit
OFF
(95 ms)
(95ms) Operation
㔚⏛ࡉ࡟࡯ࠠ૞േ delay time of
MBR the
ㆃࠇᤨ㑆electromagnetic brake
MBR(㔚⏛ࡉ࡟࡯ࠠ (Note
(Electromagnetic
(ᵈ1)1) ON
ࠗࡦ࠲ࡠ࠶ࠢ)
ON
SONSON(ࠨ࡯ࡏࠝࡦ)
(Servo-on)
OFF (Note 3)
(ᵈ3)
Position command
૏⟎ᜰ઎(ᵈ4) 0 r/min
(Note 4)
Release
⸃᡼
Electromagnetic
㔚⏛ࡉ࡟࡯ࠠ
brake Activate
૞േ Release delay time
⸃᡼ㆃࠇᤨ㑆 and external relay, etc. (Note 2)
+ ᄖㇱ࡝࡟࡯ߥߤ(ᵈ2)
Note 1. ON : Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.
2. Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of
external circuit relay. For the release delay time of electromagnetic brake, refer to the Servo Motor Instruction Manual (Vol. 3).
3. Give a position command after the electromagnetic brake is released.
4. In position control mode
3 - 58
(b) Forced stop 2 on/off
POINT
(Note 2)
(ᵈ2) speed command 0
Model
Servo motor
ࠨ࡯ࡏࡕ࡯࠲ ࡕ࠺࡞ㅦᐲᜰ઎ = 0 than
and equal to or less
speed
࿁ォㅦᐲ ߆ߟ㔖ㅦᐲએਅ
zero speed
00r/min
r/min
Base
ࡌ࡯ࠬ࿁〝 circuit ON
(Energy
(ࠨ࡯ࡏࡕ࡯࠲߳ߩsupply to
ࠛࡀ࡞ࠡଏ⛎)
ON
EM2 (Forced stop 2)
EM2(ᒝ೙஗ᱛ2)
OFF
MBR
MBR(㔚⏛ࡉ࡟࡯ࠠ (Note 1) ON
(Electromagnetic
ࠗࡦ࠲ࡠ࠶ࠢ) (ᵈ1)
ON(ή)
ON (no alarm)
ALM (Malfunction)
ALM(᡿㓚)
OFF(᦭)
OFF (alarm)

2. The model speed command is a speed command generated in the servo amplifier for forced stop
deceleration of the servo motor.
(c) Alarm occurrence

The operation status during an alarm is the same as section 3.8.
(d) Both main and control circuit power supplies off

Dynamic brake
Dynamic brake
(10ms) Electromagnetic brake
+ 㔚⏛ࡉ࡟࡯ࠠ
Servo motor
ࠨ࡯ࡏࡕ࡯࠲speed Electromagnetic brake
࿁ォㅦᐲ 㔚⏛ࡉ࡟࡯ࠠ
0r/min
(Note
(ᵈ1)1)
ON
Base circuit
ࡌ࡯ࠬ࿁〝
OFF
MBR MBR(㔚⏛ࡉ࡟࡯ࠠ ON
(Electromagnetic (Note 2)
(ᵈ2)
brake interlock) Operation delay time of
㔚⏛ࡉ࡟࡯ࠠ
Alarm ࠕ࡜࡯ࡓ No alarm
ή the electromagnetic brake
૞േㆃࠇᤨ㑆
[AL.10[AL.10 ਇ⿷㔚࿶]
Undervoltage] Alarm᦭
Main circuit
ਥ࿁〝 Power supply ON
Control circuit 㔚Ḯ
೙ᓮ࿁〝 OFF
Note 1. Variable according to the operation status.

2. ON : Electromagnetic brake is not activated.
3 - 59
(e) Main circuit power supply off during control circuit power supply on
POINT
Forced stopᒝ೙஗ᱛᷫㅦ
deceleration
Dynamic brake
Time until voltage decrease Dynamic brake
Servo motorࠨ࡯ࡏࡕ࡯࠲
speed 㔚࿶ૐਅᬌ಴߹ߢߩᤨ㑆
is detected + 㔚⏛ࡉ࡟࡯ࠠ
Electromagnetic brake
࿁ォㅦᐲ Electromagnetic brake
㔚⏛ࡉ࡟࡯ࠠ
00r/min
r/min
(10ms)
ON
Main circuitਥ࿁〝㔚Ḯ
power supply
OFF (Note 2)
(ᵈ2)
Base circuitࡌ࡯ࠬ࿁〝 ON
(Energy supply to
ࠛࡀ࡞ࠡଏ⛎)
MBR MBR(㔚⏛ࡉ࡟࡯ࠠ(Note ON
1)
(ᵈ1)
(Electromagnetic
brake interlock) Operation
㔚⏛ࡉ࡟࡯ࠠ delay time of
૞േㆃࠇᤨ㑆
the electromagnetic brake
ALM(᡿㓚) ON (no ON(ή)
alarm)
ALM (Malfunction)
OFF (alarm)
OFF(᦭)

2. Variable according to the operation status.
(2) When you do not use the forced stop deceleration function
POINT
To disable the function, set "0 _ _ _" in [Pr. PA04].
(a) SON (Servo-on) on/off

It is the same as (1) (a) in this section.
(b) EM1 (Forced stop 1) on/off

Dynamic brake
Dynamic
࠳ࠗ࠽ࡒ࠶ࠢࡉ࡟࡯ࠠbrake
++ Electromagnetic
㔚⏛ࡉ࡟࡯ࠠ brake Electromagnetic
Servo motor speed
ࠨ࡯ࡏࡕ࡯࠲ 㔚⏛ࡉ࡟࡯ࠠ⸃㒰 brake has released.
࿁ォㅦᐲ Electromagnetic
00r/min
r/min (10ms) (210ms)
ON
Base circuitࡌ࡯ࠬ࿁〝
OFF
Operation
㔚⏛ࡉ࡟࡯ࠠ delay time of (210ms)
MBR ON the electromagnetic brake
૞േㆃࠇᤨ㑆
MBR(㔚⏛ࡉ࡟࡯ࠠ (Note)
(Electromagnetic (ᵈ)
ࠗࡦ࠲ࡠ࠶ࠢ)
ON (no alarm)
ήല(ON)
EM1 (Forced stop 1)
EM1(ᒝ೙஗ᱛ1) OFF (alarm)
᦭ല(OFF)
Note. ON : Electromagnetic brake is not activated.

3 - 60
(c) Alarm occurrence

The operation status during an alarm is the same as section 3.8.
(d) Both main and control circuit power supplies off

It is the same as (1) (d) in this section.
(e) Main circuit power supply off during control circuit power supply on
Dynamic brake
Dynamic
࠳ࠗ࠽ࡒ࠶ࠢࡉ࡟࡯ࠠbrake
(10ms) + Electromagnetic
Servo motor
ࠨ࡯ࡏࡕ࡯࠲speed
࿁ォㅦᐲ Electromagnetic brake
㔚⏛ࡉ࡟࡯ࠠ
0r/min
(Note
(ᵈ1)1)
ON
Base circuit
ࡌ࡯ࠬ࿁〝
OFF
MBR MBR(㔚⏛ࡉ࡟࡯ࠠ ON
(Note 2)
(ᵈ2)
(Electromagnetic
brake interlock) Operation
㔚⏛ࡉ࡟࡯ࠠ delay time of
No alarm
ή ૞േㆃࠇᤨ㑆
the electromagnetic brake
Alarm ࠕ࡜࡯ࡓ
[AL.10[AL.10 ਇ⿷㔚࿶]
Undervoltage] Alarm᦭
ON
Main circuit
ਥ࿁〝㔚Ḯ power supply
OFF
Note 1. Variable according to the operation status.

2. ON : Electromagnetic brake is not activated.
Electromagnetic brake is activated.
OFF: 㔚⏛ࡉ࡟࡯ࠠ߇ല޿ߡ޿ࠆ⁁ᘒ
3 - 61
3.11 Grounding
Ground the servo amplifier and servo motor securely.

WARNING To prevent an electric shock, always connect the protective earth (PE) terminal
(marked ) of the servo amplifier to the protective earth (PE) of the cabinet.
The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on
the wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to di/dt
and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground.
To conform to the EMC Directive, refer to the EMC Installation Guidelines (IB(NA)67310).
Cabinet
೙ᓮ⋚
Servo amplifier
ࠨ࡯ࡏࡕ࡯࠲
࡜
CN2
MCCB ࠗ MC
Line filter
ࡦ L1
ࠛࡦ
(Note) (ᵈ) ࡈ Encoder
ࠦ࡯࠳
L2
Power supply
㔚Ḯ ࠖ
࡞ L3
࠲ L11
L21 U U
V V M
W W
CN1A
CN1
Programmable
ࠪ
controller
ࠤ
ࡦ Ensure to connect the wire to the PE
ᔅߕࠨ࡯ࡏࠕࡦࡊߩ
ࠨ terminal of PE┵ሶߦធ⛯ߒߡ
PE┵ሶߦធ⛯ߒߡߊ
Do not connect
ߛߐ޿‫ޕ‬ the wire directly to
the grounding of the cabinet.
೙ᓮ⋚ߩ଻⼔ធ࿾ߦ
⋥ធធ⛯ߒߥ޿ߢߊ
ߛߐ޿‫ޕ‬
Outer
ᄖ▫
box
Protective earth (PE)
଻⼔ធ࿾(PE)
Note. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For power supply
specifications, refer to section 1.3.
3 - 62
4. STARTUP
4. STARTUP
Do not operate the switches with wet hands. Otherwise, it may cause an electric
WARNING shock.
Before starting operation, check the parameters. Improper settings may cause
some machines to operate unexpectedly.
The servo amplifier heat sink, regenerative resistor, servo motor, etc. may be hot
while power is on or for some time after power-off. Take safety measures, e.g.
CAUTION provide covers, to prevent accidental contact of hands and parts (cables, etc.)
with them.
During operation, never touch the rotor of the servo motor. Otherwise, it may
cause injury.
4.1 Switching power on for the first time
When switching power on for the first time, follow this section to make a startup.
4.1.1 Startup procedure
Wiring check Check whether the servo amplifier and servo motor are wired correctly using
visual inspection, DO forced output function (section 4.5.8), etc. (Refer to
section 4.1.2)
Surrounding environment check Check the surrounding environment of the servo amplifier and servo motor.
(Refer to section 4.1.3)
Parameter setting Set the parameters as necessary, such as the used operation mode and
regenerative option selection. (Refer to chapter 5, and sections 4.2.4, 4.3.4,
and 4.4.4.)
Test operation of the servo motor For the test operation, with the servo motor disconnected from the machine
alone in test operation mode and operated at the speed as low as possible, check whether the servo
motor rotates correctly. (Refer to sections 4.2.3, 4.3.3, and 4.4.3.)
Test operation of the servo motor For the test operation with the servo motor disconnected from the machine
alone by commands and operated at the speed as low as possible, give commands to the servo
amplifier and check whether the servo motor rotates correctly.
Test operation with the servo After connecting the servo motor with the machine, check machine motions
motor and machine connected with sending operation commands from the controller.
Gain adjustment Make gain adjustment to optimize the machine motions. (Refer to chapter 6.)
Actual operation
Stop
Stop giving commands and stop operation. Other conditions that stops the
servo motor are mentioned in sections 4.2.2, 4.3.2, and 4.4.2.
4- 1
4. STARTUP
4.1.2 Wiring check
(1) Power supply system wiring

Before switching on the main circuit and control circuit power supplies, check the following items.
(a) Power supply system wiring

The power supplied to the power input terminals (L1, L2, L3, L11, and L21) of the servo amplifier
should satisfy the defined specifications. (Refer to section 1.3)
(b) Connection of servo amplifier and servo motor

1) The servo amplifier power output (U, V, and W) should match in phase with the servo motor
power input terminals (U, V, and W).
Servo amplifier Servo motor
U
U
V
V M
W
W
2) The power supplied to the servo amplifier should not be connected to the power outputs (U, V,
and W). To do so will fail the connected servo amplifier and servo motor.

U
L1 U
V
L2 V M
W
L3 W
3) The grounding terminal of the servo motor is connected to the PE terminal of the servo amplifier.
(c) When option and auxiliary equipment are used

1) When you use a regenerative option for amplifiers under 5 kW for 200 V class
The lead wire between P+ and D terminal of CNP2 connector (3.5 kW or less) or TE3 terminal
block (5 kW) should not be connected.
The regenerative option should be connected to P+ terminal and C terminal.
A twisted cable should be used. (Refer to section 11.2.4)
2) When you use a regenerative option for amplifiers under 7 kW for 200 V class
The lead wire of built-in regenerative resistor connected to P+ terminal and C terminal should
not be connected.
The regenerative option should be connected to P+ terminal and C terminal.
A twisted cable should be used when wiring is over 5 m and under 10 m. (Refer to section
11.2.4)
4- 2
4. STARTUP
3) When you use a brake unit and a power regenerative converter for 7 kW
The lead wire of built-in regenerative resistor connected to P+ terminal and C terminal should
not be connected.
Brake unit, power regenerative converter or power regenerative common converter should be
connected to P+ terminal and N- terminal. (Refer to section 11.3 to 11.5.)
4) The power factor improving DC reactor should be connected between P3 and P4. (Refer to
section 11.11.)
Power factor Servo
improving
ജ₸ᡷༀ DC
reactor
DC࡝ࠕࠢ࠻࡞
P3
(Note)
(ᵈ)
P4
Note. Always disconnect between P3 and P4 terminals.
(2) I/O signal wiring

(a) The I/O signals should be connected correctly.
Use DO forced output to forcibly turn on/off the pins of the CN1 connector. This function can be used
to perform a wiring check. In this case, switch on the control circuit power supply only.
Refer to section 3.2 for details of I/O signal connection.
(b) 24 V DC or higher voltage is not applied to the pins of the CN1 connector.
(c) SD and DOCOM of the CN1 connector is not shorted.

Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
CN1
DOCOM
SD
4.1.3 Surrounding environment
(1) Cable routing

(a) The wiring cables should not be stressed.
(b) The encoder cable should not be used in excess of its bending life. (Refer to section 10.4.)
(c) The connector of the servo motor should not be stressed.
(2) Environment
Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.
4- 3
4. STARTUP
4.2 Startup in position control mode
Make a startup in accordance with section 4.1. This section provides the methods specific to the position
control mode.
4.2.1 Power on and off procedures
(1) Power-on
Switch power on in the following procedure. Always follow this procedure at power-on.
1) Switch off SON (Servo-on).
2) Make sure that a command pulse train is not input.
3) Switch on the main circuit power supply and control circuit power supply.
When main circuit power/control circuit power is switched on, the display shows "C (Cumulative
feedback pulses)", and in 2 s later, shows data.
In the absolute position detection system, first power-on results in [AL. 25 Absolute position
erased] and the servo system cannot be switched on. The alarm can be deactivated by then
switching power off once and on again.
Also, if power is switched on at the servo motor speed of 3000 r/min or higher, position mismatch
may occur due to external force or the like. Power must therefore be switched on when the servo
motor is at a stop.
(2) Power-off
1) Make sure that a command pulse train is not input.
3) Switch off the main circuit power supply and control circuit power supply.
4.2.2 Stop
If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and
brings it to a stop. Refer to section 3.10 for the servo motor with an electromagnetic brake.
Operation/command Stopping condition
Switch of SON (Servo-on). The base circuit is shut off and the servo motor coasts.
Alarm occurrence The servo motor decelerates to a stop with the command. With some alarms,
however, the dynamic brake operates to bring the servo motor to a stop. (Refer to
section 8.1.)
EM2 (Forced stop 2) off The servo motor decelerates to a stop with the command. [AL. E6 Servo forced stop
warning] occurs. EM2 has the same function as EM1 in the torque control mode.
Refer to section 3.5 for EM1.
STO (STO1, STO2) off The base circuit is shut off and the dynamic brake operates to bring the servo motor to
a stop.
LSP (Forward rotation stroke end) of LSN It will bring the motor to a sudden stop and make it servo-locked. It can be run in the
(Reverse rotation stroke end) off opposite direction.
4- 4
4. STARTUP
4.2.3 Test operation
Before starting actual operation, perform test operation to make sure that the machine operates normally.
Refer to section 4.2.1 for the power on and off methods of the servo amplifier.
Test operation of the servo motor
࠹ࠬ࠻ㆇォࡕ࡯࠼ߩ,1)ㆇォߦࠃࠆ
alone in JOG operation of test
In this step, confirm that the servo amplifier and servo motor operate
ࠨ࡯ࡏࡕ࡯࠲න૕ߢߩ࠹ࠬ࠻ㆇォ
operation mode normally.
With the servo motor disconnected from the machine, use the test operation
mode and check whether the servo motor correctly rotates at the slowest
speed. Refer to section 4.5.9 for the test operation mode.

ᜰ઎ߦࠃࠆ In this step, confirm that the servo motor correctly rotates at the slowest
alone by commands
speed under the commands from the controller.
Make sure that the servo motor rotates in the following procedure.
1) Switch on EM2 (Forced stop 2) and SON (Servo-on). When the servo
amplifier is put in a servo-on status, RD (Ready) switches on.
2) Switch on LSP (Forward rotation stroke end) and LSN (Reverse rotation
stroke end).
3) When a pulse train is input from the controller, the servo motor starts
rotating. Give a low speed command at first and check the rotation
direction, etc. of the servo motor. If the machine does not operate in the
intended direction, check the input signal.
Testᯏ᪾ࠍㅪ⚿ߒߡߩ࠹ࠬ࠻ㆇォ
operation with the servo motor In this step, connect the servo motor with the machine and confirm that the
and machine connected
machine operates normally under the commands from the controller.
stroke end).
3) When a pulse train is input from the controller, the servo motor starts
rotating. Give a low speed command at first and check the operation
direction, etc. of the machine. If the machine does not operate in the
intended direction, check the input signal. In the status display, check for
any problems of the servo motor speed, command pulse frequency, load
ratio, etc.
4) Then, check automatic operation with the program of the controller.
4- 5
4. STARTUP
4.2.4 Parameter setting
POINT
The following encoder cables are of four-wire type. When using any of these
encoder cables, set [Pr. PC22] to "1 _ _ _" to select the four-wire type. Incorrect
setting will result in [AL. 16 Encoder initial communication error 1].
MR-EKCBL30M-L
MR-EKCBL30M-H
MR-EKCBL40M-H
MR-EKCBL50M-H
In the position control mode, the servo amplifier can be used by merely changing the basic setting
parameters ([Pr. PA _ _ ]) mainly.
As necessary, set other parameters.
4.2.5 Actual operation
Start actual operation after confirmation of normal operation by test operation and completion of the
corresponding parameter settings. Perform a home position return as necessary.
4- 6
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7URXEOHVKRRWLQJIRUGHWDLOVRIDODUPVDQGZDUQLQJV

4. STARTUP
(2) How to find the cause of position shift

Positioning
૏⟎᳿߼࡙࠾࠶࠻ module Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
(a)
(a)Output
಴ജࡄ࡞ࠬ pulse Machine
ᯏ᪾
counter
ࠞ࠙ࡦ࠲ Servo motor
ࠨ࡯ࡏࡕ࡯࠲
Electronic
㔚ሶࠡࠕ gear L
P [Pr.PA05]㧘[Pr.PA06]㧘
[Pr. PA05]，[Pr. PA06]， M (d) ᯏ᪾஗ᱛ૏⟎M
Machine stop position M
Q (d)
[Pr.PA07]㧘[Pr.PA21]
[Pr. PA07]，[Pr. PA21]
(b)
(b) Cumulative
ᜰ઎ࡄ࡞ࠬ⚥Ⓧ command pulses (B)
(A)
(C)
(C) SON (Servo-on) input
SON(ࠨ࡯ࡏࠝࡦ)౉ജ
LSP࡮LSN(ࠬ࠻ࡠ࡯ࠢࠛࡦ࠼)౉ജ
LSP/LSN (Stroke end) input ࠛࡦ
C Encoder
ࠦ࡯࠳
(c) Cumulative feedback pulses

(c) Ꮻㆶࡄ࡞ࠬ⚥Ⓧ
When a position shift occurs, check (a) output pulse counter display, (b) cumulative command pulse, (c)
cumulative feedback pulse, and (d) machine stop position in the above diagram.
(A), (B) and (C) indicate position shift causes. For example, (A) indicates that noise entered the wiring
between positioning unit and servo amplifier, causing pulses to be miss-counted.
In a normal status without position shift, there are the following relationships.
1) Q = P (Output counter of the positioning module = Cumulative command pulses of the servo
amplifier)
2) When [Pr. PA21] is "0 _ _ _"
CMX[Pr.PA06]
P• = C (Cumulative command pulses × Electronic gear = Cumulative feedback
CDV[Pr.PA07]
pulses)
3) When [Pr. PA21] is "1 _ _ _"
4194304
P• =C
FBP[Pr.PA05]
4) When [Pr. PA21] is "2 _ _ _"
CMX[Pr.PA06]
P• × 16 = C
CDV[Pr.PA07]
5) C • ǻͰ = M (Cumulative feedback pulses × Travel distance per pulse = Machine position)
Check for a position mismatch in the following sequence.
1) When Q P
Noise entered the pulse train signal wiring between positioning unit and servo amplifier, causing
pulses to be miss-counted. (Cause A)
Make the following check or take the following measures.
Check how the shielding is done.
Change the open collector type to the differential line driver type.
Run wiring away from the power circuit.
Install a data line filter. (Refer to section 11.14 (2) (a).)
Change the [Pr. PA13 Command pulse input form] setting.
4- 8
4. STARTUP
CMX
2) When P • C
CDV
During operation, SON (Servo-on), LSP (Forward rotation stroke end), or LSN (Reverse rotation
stroke end) was switched off; or CR (Clear) or RES (Reset) was switched on. (Cause C)
3) When C • ǻͰ M
Mechanical slip occurred between the servo motor and machine. (Cause B)
4.3 Startup in speed control mode
Make a startup in accordance with section 4.1. This section provides the methods specific to the speed
control mode.
4.3.1 Power on and off procedures
(1) Power-on
Switch power on in the following procedure. Always follow this procedure at power-on.
2) Make sure that ST1 (Forward rotation start) and ST2 (Reverse rotation start) are off.
3) Switch on the main circuit power supply and control circuit power supply.
When main circuit power/control circuit power is switched on, the display shows "r (Servo motor
speed)", and in 2 s later, shows data.
(2) Power-off
1) Switch off ST1 (Forward rotation start ) and ST2 (Reverse rotation start).
3) Switch off the main circuit power supply and control circuit power supply.
4.3.2 Stop
If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and
brings it to a stop.
Refer to section 3.10 for the servo motor with an electromagnetic brake.
Operation/command Stopping condition
Switch of SON (Servo-on). The base circuit is shut off and the servo motor coasts.
Alarm occurrence The servo motor decelerates to a stop with the command. With some alarms,
however, the dynamic brake operates to bring the servo motor to a stop. (Refer to
section 8.1.)
EM2 (Forced stop 2) off The servo motor decelerates to a stop with the command. [AL. E6 Servo forced stop
warning] occurs. EM2 has the same function as EM1 in the torque control mode.
Refer to section 3.5 for EM1.
STO (STO1, STO2) off The base circuit is shut off and the dynamic brake operates to bring the servo motor to
a stop.
LSP (Forward rotation stroke end) of LSN It will bring the motor to a sudden stop and make it servo-locked. It can be run in the
(Reverse rotation stroke end) off opposite direction.
Simultaneous on or off of ST1 (Forward The servo motor is decelerated to a stop.
rotation start) and ST2 (Reverse rotation
start)
4- 9
4. STARTUP
Test operation of the servo motor In this step, confirm that the servo amplifier and servo motor operate
alone in JOG operation of test normally.
operation mode
Test operation of the servo motor In this step, confirm that the servo motor correctly rotates at the slowest
alone by commands
stroke end).
3) When VC (Analog speed command) is input from the controller and ST1
(Forward rotation start) or ST2 (Reverse rotation start) is switched on,
the servo motor starts rotating. Give a low speed command at first and
check the rotation direction, etc. of the servo motor. If the machine does
not operate in the intended direction, check the input signal.
Test operation with the servo motor In this step, connect the servo motor with the machine and confirm that the
stroke end).
3) When VC (Analog speed command) is input from the controller and ST1
(Forward rotation start) or ST2 (Reverse rotation start) is switched on,
the servo motor starts rotating. Give a low speed command at first and
check the operation direction, etc. of the machine. If the machine does
not operate in the intended direction, check the input signal. In the status
display, check for any problems of the servo motor speed, load ratio, etc.
4 - 10
4. STARTUP
POINT
MR-EKCBL30M-L
MR-EKCBL30M-H
MR-EKCBL40M-H
MR-EKCBL50M-H
When using this servo in the speed control mode, change [Pr. PA01] setting to select the speed control
mode. In the speed control mode, the servo can be used by merely changing the basic setting parameters
([Pr. PA _ _ ]) and extension setting parameters ([Pr. PC _ _ ]) mainly.
4 - 11
4. STARTUP
corresponding parameter settings.
4.3.6 Trouble at start-up
Never adjust or change the parameter values extremely as it will make operation
CAUTION unstable.
POINT
Using the optional MR Configurator2, you can refer to reason for rotation failure,
etc.
The following faults may occur at start-up. If any of such faults occurs, take the corresponding action.
No. Start-up sequence Fault Investigation Possible cause Reference
1 Power on LED is not lit. Not improved even if CN1, CN2, 1. Power supply voltage fault
LED flickers. and CN3 connectors are 2. The servo amplifier is
disconnected. malfunctioning.
Improved when CN1 connector is Power supply of CN1 cabling is
disconnected. shorted.
Improved when CN2 connector is 1. Power supply of encoder
disconnected. cabling is shorted.
2. Encoder is malfunctioning.
Alarm occurs. Refer to chapter 8 and remove cause. Chapter 8
(Note)
2 Switch on SON Alarm occurs. Refer to chapter 8 and remove cause. Chapter 8
(Servo-on). (Note)
Servo motor shaft is 1. Check the display to see if the 1. SON (Servo-on) is not input. Section
not servo-locked. servo amplifier is ready to (wiring mistake) 4.5.7
(Servo motor shaft is operate. 2. 24 V DC power is not
free.) 2. Check the external I/O signal supplied to DICOM.
indication (section 4.5.7) to
see if SON (Servo-on) is on.
3 Switch on ST1 Servo motor does not Call the status display (section Analog speed command is 0 V. Section
(Forward rotation rotate. 4.5.3) and check the input 4.5.3
start) or ST2 voltage of VC (Analog speed
(Reverse rotation command).
start). Call the external I/O signal LSP, LSN, ST1, and ST2 are off. Section
display (section 4.5.7) and check 4.5.7
the on/off status of the input
signal.
Check the internal speed Set value is 0. Section
commands 1 to 7 ([Pr. PC05] to 5.2.3
[Pr. PC11]).
Check the forward rotation Torque limit level is too low as Section
torque limit ([Pr. PA11]) and the compared to the load torque. 5.2.1
reverse rotation torque limit ([Pr.
PA12]).
When TLA (Analog torque limit) Torque limit level is too low as Section
is usable, check the input voltage compared to the load torque. 4.5.3
on the status display.
4 - 12
4. STARTUP

4 Gain adjustment Rotation ripples (speed Make gain adjustment in the Gain adjustment fault Chapter 6
fluctuations) are large following procedure.
at low speed. 1. Increase the auto tuning
response level.
2. Repeat acceleration and
deceleration several times to
complete auto tuning.
Large load inertia If the servo motor may be run Gain adjustment fault Chapter 6
moment causes the with safety, repeat acceleration
servo motor shaft to and deceleration several times to
oscillate side to side. complete auto tuning.
Note. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual
(Troubleshooting)" for details of alarms and warnings.
4 - 13
67$5783

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4. STARTUP
࠹ࠬ࠻ㆇォࡕ࡯࠼ߩ,1)ㆇォߦࠃࠆ In this step, confirm that the servo amplifier and servo motor operate
alone in JOG operation of test
operation mode normally.

ᜰ઎ߦࠃࠆ In this step, confirm that the servo motor correctly rotates at the slowest
alone by commands
1) Switch on SON (Servo-on). When the servo amplifier is put in a servo-on

status, RD (Ready) switches on.
2) When TC (Analog speed command) is input from the controller and RS1
(Forward rotation start) or RS2 (Reverse rotation start) is switched on,
the servo motor starts rotating. Give a low torque command at first and
check the rotation direction, etc. of the servo motor. If the machine does
not operate in the intended direction, check the input signal.
Testᯏ᪾ࠍㅪ⚿ߒߡߩ࠹ࠬ࠻ㆇォ
operation with the servo motor In this step, connect the servo motor with the machine and confirm that the
1) Switch on SON (Servo-on). When the servo amplifier is put in a servo-on

status, RD (Ready) switches on.
2) When TC (Analog speed command) is input from the controller and RS1
(Forward rotation start) or RS2 (Reverse rotation start) is switched on,
the servo motor starts rotating. Give a low torque command at first and
check the operation direction, etc. of the machine. If the machine does
not operate in the intended direction, check the input signal. In the status
display, check for any problems of the servo motor speed, load ratio, etc.
4 - 15
4. STARTUP
POINT
MR-EKCBL30M-L
MR-EKCBL30M-H
MR-EKCBL40M-H
MR-EKCBL50M-H
When using this servo in the torque control mode, change [Pr. PA01] setting to select the torque control
mode. In the torque control mode, the servo can be used by merely changing the basic setting parameters
([Pr. PA _ _ ]) and extension setting parameters ([Pr. PC _ _ ]) mainly.
corresponding parameter settings.
4 - 16
4. STARTUP
4.4.6 Trouble at start-up
Never adjust or change the parameter values extremely as it will make unstable
CAUTION movement.
POINT
Using the optional MR Configurator2, you can refer to reason for rotation failure,
etc.
The following faults may occur at start-up. If any of such faults occurs, take the corresponding action.
1 Power on LED is not lit. Not improved even if CN1, CN2, 1. Power supply voltage fault
LED flickers. and CN3 connectors are 2. The servo amplifier is
disconnected. malfunctioning.
Improved when CN2 connector is 1. Power supply of encoder
disconnected. cabling is shorted.
2. Encoder is malfunctioning.
Alarm occurs. Refer to chapter 8 and remove cause. Chapter 8
(Note)
2 Switch on SON Alarm occurs. Refer to chapter 8 and remove cause. Chapter 8
(Servo-on). (Note)
(Servo motor shaft is Call the external I/O signal 1. SON (Servo-on) is not input. Section
free.) display (section 4.5.7) and check (wiring mistake) 4.5.7
the on/off status of the input 2. 24 V DC power is not
signal. supplied to DICOM.
3 Switch on RS1 Servo motor does not Call the status display (section Analog torque command is 0 V. Section
(Forward rotation rotate. 4.5.3) and check the input 4.5.3
start) or RS2 voltage of TC (Analog torque
(Reverse rotation command).
start). Call the external I/O signal RS1 and RS2 are off. Section
display (section 4.5.7) and check 4.5.7
the on/off status of the input
signal.
Check the internal speed Set value is 0. Section
commands 1 to 7 ([Pr. PC05] to 5.2.3
[Pr. PC11]).
Check the analog torque Torque command level is too Section
command maximum output ([Pr. low as compared to the load 5.2.3
PC13]) value. torque.
Check the forward rotation Set value is 0. Section
torque limit ([Pr. PA11]) and the 5.2.1
reverse rotation torque limit ([Pr.
PA12]).
Note. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual
(Troubleshooting)" for details of alarms and warnings.
4 - 17
4. STARTUP
4.5 Display and operation sections
4.5.1 Summary
The MR-J4-A servo amplifier has the display section (5-digit, 7-segment LED) and operation section (4
pushbuttons) for servo amplifier status display, alarm display, parameter setting, etc.
The operation section and display data are described below.
5-digit, 7-segment
5ᩴ7࠮ࠣࡔࡦ࠻LED Displays data.
࠺࡯࠲ࠍ⴫␜ߒ߹ߔ‫ޕ‬
LED
MODE UP DOWN SET
Decimal Displays the decimal points, alarm presence/absence, etc

ዊᢙὐLED ዊᢙὐ࡮ࠕ࡜࡯ࡓߩ᦭ήߥߤࠍ⴫␜ߒ߹ߔ‫ޕ‬
LED
MODE Display
⴫␜ࡕ࡯࠼ߩᄌᦝmode change Lit to indicate the decimal point
ὐἮߢዊᢙὐࠍ⴫ߒ߹ߔ‫ޕ‬
Low/High switching
Low/Highߩಾ឵߃
UP Display/data
⴫␜࡮࠺࡯࠲ߩㆫ⒖ scrolling Decimal
ዊᢙὐ
DOWN Display/data
⴫␜࡮࠺࡯࠲ߩㆫ⒖ scrolling
Lit to indicate a negative when
""(ࡑࠗ࠽ࠬ)⴫␜߇ߢ߈ߥ޿႐ว㧘ὐ
SET Display/data
⴫␜࡮࠺࡯࠲ߩ⏕ቯ determination
Data clear
"-" (negative) cannot be displayed.
Ἦߢࡑࠗ࠽ࠬࠍ⴫ߒ߹ߔ‫ޕ‬
࠺࡯࠲ߩࠢ࡝ࠕ
Flickers to indicate alarm occurrence.

ὐṌߢࠕ࡜࡯ࡓ⊒↢ࠍ⴫ߒ߹ߔ‫ޕ‬
Flickers to indicate the test operation

ὐṌߢ࠹ࠬ࠻ㆇォࡕ࡯࠼ࠍ⴫ߒ߹ߔ‫ޕ‬
mode.
4 - 18
4. STARTUP
4.5.2 Display flowchart
Press the "MODE" button once to shift to the next display mode. Refer to section 4.5.3 and later for the
description of the corresponding display mode.
To refer to and set the gain/filter parameters, extension setting parameters and I/O setting parameters, make
them valid with [Pr. PA19 Parameter writing inhibit].
Display mode transition Initial screen Function Reference
Servo status display. Section
appears at power-on. 4.5.3
Status
⁁ᘒ⴫␜display
(Note)
One-touch tuning Section 6.2

Select this when performing the one-touch
One-touch
ࡢࡦ࠲࠶࠴⺞ᢛ tuning tuning.
Sequence display, external signal display, Section

output signal (DO) forced output, test 4.5.4
operation, software version display, VC
Diagnosis
⸻ᢿ automatic offset, servo motor series ID
display, servo motor type ID display, servo
motor encoder ID display, drive recorder
enabled/disabled display.
Current alarm display, alarm history display, Section
Alarms
ࠕ࡜࡯ࡓ parameter error number display. 4.5.5
Display and setting of basic setting Section

Basic setting parameters
ၮᧄ⸳ቯࡄ࡜ࡔ࡯࠲ parameters. 4.5.6
Button
ࡏ࠲ࡦ
MODE
Display and setting of gain/filter parameters.
ࠥࠗࡦ࡮ࡈࠖ࡞࠲
Gain/filter parameters
ࡄ࡜ࡔ࡯࠲
Display and setting of extension setting

Extension
᜛ᒛ⸳ቯࡄ࡜ࡔ࡯࠲ setting parameters parameters.
Display and setting of I/O setting parameters.

I/O setting
౉಴ജ⸳ቯ
ࡄ࡜ࡔ࡯࠲
parameters
Display and setting of extension setting 2

Extension
᜛ᒛ⸳ቯ2 setting parameters.
ࡄ࡜ࡔ࡯࠲
2 parameters
Display and setting of extension setting 3

Extension
᜛ᒛ⸳ቯ3 setting parameters.
3 parameters
ࡄ࡜ࡔ࡯࠲
Note. When the axis name is set to the servo amplifier using MR Configurator2, the axis name is displayed and the servo status is then
displayed.
4 - 19
4. STARTUP
4.5.3 Status display mode
The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or
"DOWN" button to change display data as desired. When the required data is selected, the corresponding
symbol is displayed. Press the "SET" button to display that data. At only power-on, however, data appears
after the symbol of the status display selected in [Pr. PC36] has been shown for 2 s.
(1) Display transition

After selecting the status display mode with the "MODE" button, pressing the "UP" or "DOWN" button
changes the display as shown below.
To Unit total power consumption 2
(incrementToofBus voltage
100 kWh)
Უ✢㔚࿶߳
Cumulative feedback Within one-revolution position

Ꮻㆶࡄ࡞ࠬ⚥Ⓧ 1࿁ォౝ૏⟎(1000pulseන૏)
(1000 pulse unit)
pulses
Servo motor speed

ࠨ࡯ࡏࡕ࡯࠲࿁ォㅦᐲ ABS counter
ABSࠞ࠙ࡦ࠲
Droop pulses
ḳࠅࡄ࡞ࠬ Load to motor inertia ratio
⽶⩄ᘠᕈࡕ࡯ࡔࡦ࠻Ყ
Cumulative Bus voltage

ᜰ઎ࡄ࡞ࠬ⚥Ⓧ Უ✢㔚࿶
command pulses
Command pulse Internal temperature of

ᜰ઎ࡄ࡞ࠬ๟ᵄᢙ
frequency ࠛࡦࠦ࡯࠳ౝ᳇᷷ᐲ
encoder
Analog speed command voltage

ࠕ࠽ࡠࠣㅦᐲᜰ઎㔚࿶ Settling
Analog speed limit voltage ᢛቯᤨ㑆time
ࠕ࠽ࡠࠣㅦᐲ೙㒢㔚࿶
UP
DOWN
Analog torque limit voltage
ࠕ࠽ࡠࠣ࠻࡞ࠢ೙㒢㔚࿶ Oscillation
⊒ᝄᬌ⍮๟ᵄᢙ detection
Analog torque command voltage
ࠕ࠽ࡠࠣ࠻࡞ࠢᜰ઎㔚࿶ frequency
Regenerative
࿁↢⽶⩄₸ load ratio Number of tough drives
࠲ࡈ࠼࡜ࠗࡉ࿁ᢙ
Effective load ratio Unit power consumption 1

ታല⽶⩄₸ ࡙࠾࠶࠻ᶖ⾌㔚ജ1(1Wන૏)
(increment of 1 W)
Unit power consumption 2

Peak load ratio
ࡇ࡯ࠢ⽶⩄₸ ࡙࠾࠶࠻ᶖ⾌㔚ജ2(1kWන૏)
(increment of 1 kW)
Instantaneous
⍍ᤨ⊒↢࠻࡞ࠢtorque Unit total power consumption 1
࡙࠾࠶࠻Ⓧ▚㔚ജ㊂1(1Whන૏)
(increment of 1 Wh)
Within one-revolution
1࿁ォౝ૏⟎(1pulseන૏) Unit total power consumption 2
࡙࠾࠶࠻Ⓧ▚㔚ജ㊂2(100kWhන૏)
position (1 pulse unit) (increment of 100 kWh)
ToᏫㆶࡄ࡞ࠬ⚥Ⓧ߳
Cumulative feedback pulse
4 - 20
4. STARTUP
(2) Display examples

The following table shows the display examples.
Displayed data
Item State
Servo amplifier display
Forward rotation at 2500

r/min
Servo motor speed
Reverse rotation at 3000

r/min
Reverse rotation is indicated by "- ".
Load to motor inertia ratio 7.00 times
11252 rev
ABS counter
-12566 rev
Lit
ὐἮ
Negative value is indicated by the lit decimal

points in the upper four digits.
4 - 21
4. STARTUP
(3) Status display list

The following table lists the servo statuses that may be shown. Refer to appendix 10 for the
measurement point.
Status display Symbol Unit Description
Feedback pulses from the servo motor encoder are counted and displayed.
The values in excess of ±99999 can be counted. However, the counter shows
only the lower five digits of the actual value since the servo amplifier display is
Cumulative feedback pulses C pulse
five digits.
Press the "SET" button to reset the display value to zero.
The value of minus is indicated by the lit decimal points in the upper four digits.
The servo motor speed is displayed.
Servo motor speed r r/min
It is displayed rounding off 0.1 r/min unit.
The number of droop pulse in the deviation counter is displayed.
The decimal points in the upper four digits are lit for reverse rotation pulses.
Droop pulses E pulse
only the lower five digits of the actual value since the servo amplifier display is
five digits.
The number of pulses displayed is in the encoder pulse unit.
Position command input pulses are counted and displayed.
As the value displayed is not yet multiplied by the electronic gear (CMX/CDV), it
may not match the indication of the cumulative feedback pulses.
Cumulative command pulses P pulse only the lower five digits of the actual value since the servo amplifier display is
five digits.
Press the "SET" button to reset the display value to zero.
When the servo motor is rotating in the reverse direction, the decimal points in
the upper four digits are lit.
The frequency of position command input pulses is counted and displayed.
Command pulse frequency n kpps
The value displayed is not multiplied by the electronic gear (CMX/CDV).
1) Torque control mode
Analog speed command
Input voltage of VLA (Analog speed limit) voltage is displayed.
voltage F V
Analog speed limit voltage 2) Speed control mode
Input voltage of VC (Analog speed command) voltage is displayed
1) Position control mode and speed control mode
Analog torque command
Voltage of TLA (Analog torque limit) voltage is displayed.
voltage U V
2) Torque control mode
Analog torque limit voltage
Voltage of TC (Analog torque command) voltage is displayed.
The ratio of regenerative power to permissible regenerative power is displayed
Regenerative load ratio L %
in %.
The continuous effective load current is displayed.
Effective load ratio J % The effective value in the past 15 s is displayed relative to the rated current of
100 %.
The maximum occurrence torque is displayed.
Peak load ratio b % The highest value in the past 15 s is displayed relative to the rated current of
100 %.
The instantaneous occurrence torque is displayed.
Instantaneous torque T % The value of torque being occurred is displayed in real time considering a rated
torque as 100%.
Position within one revolution is displayed in encoder pulses.
Within one-revolution position
Cy1 pulse only the lower five digits of the actual value since the servo amplifier display is
(1 pulse unit)
five digits.
When the servo motor rotates in the CCW direction, the value is added.
The within one-revolution position is displayed in 1000 pulse increments of the
Within one-revolution position 1000
Cy2 encoder.
(1000 pulse unit) pulses
When the servo motor rotates in the CCW direction, the value is added.
The travel distance from the home position is displayed as multi-revolution
ABS counter LS rev counter value of the absolution position encoder in the absolution position
detection system.
4 - 22
4. STARTUP
Status display Symbol Unit Description

The estimated ratio of the load inertia moment to the servo motor shaft inertia
Load to motor inertia ratio dC Multiplier
moment is displayed.
Bus voltage Pn V The voltage of main circuit converter (between P+ and N-) is displayed.
Encoder inside temperature ETh °C Inside temperature of encoder etected by the encoder is displayed.
Settling time ST ms Settling time is displayed. When it exceeds 1000 mm/s, "1000" will be displayed.
Oscillation detection
oF Hz Frequency at the time of oscillation detection is displayed.
frequency
Number of tough operations Td times The number of tough drive functions activated is displayed.
Unit power consumption is displayed by increment of 1 W. Positive value
Unit power consumption 1 indicate power running, and negative value indicate regeneration. The values in
PC1 W
(increment of 1 W) excess of ±99999 can be counted. However, the counter shows only the lower
five digits of the actual value since the servo amplifier display is five digits.
Unit power consumption 2 Unit power consumption is displayed by increment of 1 kW. Positive value
PC2 kW
(increment of 1 kW) indicate power running, and negative value indicate regeneration.
Unit total power consumption is displayed by increment of 1 Wh. Positive value
is cumulated during power running and negative value during regeneration. The
Unit total power consumption
TPC1 Wh values in excess of ±99999 can be counted. However, the counter shows only
1 (increment of 1 Wh)
the lower five digits of the actual value since the servo amplifier display is five
digits.
Unit total power consumption is displayed by increment of 100 kWh. Positive
Unit total power consumption
TPC2 100 Wh value is cumulated during power running and negative value during
2 (increment of 100 kWh)
regeneration.
(4) Changing the status display screen

The status display item of the servo amplifier display shown at power-on can be changed by changing
[Pr. PC36] settings. The item displayed in the initial status changes with the control mode as follows.
Control mode Status display
Position Cumulative feedback pulses
Position/speed Cumulative feedback pulses/servo motor speed
Speed Servo motor speed
Speed/torque Servo motor speed/analog torque command voltage
Torque Analog torque command voltage
Torque/position Analog torque command voltage/cumulative feedback
pulses
4 - 23
4. STARTUP
4.5.4 Diagnostic mode

Name Display Description
Not ready
Indicates that the servo amplifier is being
initialized or an alarm has occurred.
Sequence
Ready
Indicates that the servo was switched on after
completion of initialization and the servo
amplifier is ready to operate.
Drive recorder enabled
When an alarm occurs in the status, the drive
recorder will operate and write the status of
occurrence.
Drive recorder enabled
Drive recorder enabled/disabled display The drive recorder will not operate on the
following conditions.
1. You are using the graph function of MR
Configurator2.
2. You are using the machine analyzer
function.
3. [Pr. PF21] is set to "-1".
This Indicates the on/off status of external I/O
signal.
External I/O signal display Refer to section 4.5.7. The upper segments correspond to the input
signals and the lower segments to the output
signals.
This allows digital output signal to be
switched on/off forcibly.
Output signal (DO) forced output
For details, refer to section 4.5.8.
JOG operation can be performed when there

is no command from an external controller.
JOG operation
For details, refer to section 4.5.9 (2).
Positioning operation can be performed when

there is no command from an external
controller.
Positioning operation
MR Configurator2 is required to perform
positioning operation.
Without connecting the servo motor, output
signals or status display monitoring can be
Test operation
Motor-less operation provided in response to the input device as if
mode
the servo motor is actually running.
Merely connecting the servo amplifier allows
the resonance point of the mechanical system
Machine analyzer to be measured.
operation MR Configurator2 is required to perform
machine analyzer operation.
This is for manufacturer.
For manufacturer
4 - 24
4. STARTUP

Indicates the version of the software.
Software version - Lower
Indicates the system number of the software.
Software version - Upper
If offset voltages in the analog circuits inside

and outside the servo amplifier cause the
servo motor to rotate slowly at VC (Analog
speed
command) or VLA (Analog speed limit) of 0
V, this function automatically makes zero-
adjustment of offset voltages.
When using this function, enable the function
in the following procedure. When it is
Automatic VC offset enabled, [Pr. PC37] value changes to the
automatically adjusted offset voltage.
1) Push "SET" once.
2) Set the number in the first digit to 1 with
"UP"/"DOWN".
3) Push "SET".
This function cannot be used if the input
voltage of VC or VLA is - +0.4 V or less, or +
0.4 V or more.
Push the "SET" button to show the series ID
of the servo motor currently connected.
Servo motor series ID
For indication details, refer to the Servo Motor
Instruction Manual (Vol. 3).
Push the "SET" button to show the type ID of
the servo motor currently connected.
Servo motor type ID
Push the "SET" button to show the encoder
ID of the servo motor currently connected.
Servo motor encoder ID
For manufacturer
For manufacturer
4 - 25
4. STARTUP
4.5.5 Alarm mode
The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the display
indicate the alarm number that has occurred or the parameter number in error.
Indicates no occurrence of an alarm.
Current alarm
Indicates the occurrence of [AL. 33.1 Main
circuit voltage error].
Flickers at alarm occurrence.
Indicates that the last alarm is [AL. 50.1

Thermal overload error 1 during operation].
Indicates the second last alarm is [AL. 33.1

Main circuit voltage error].
Indicates the third last alarm is [AL. 10.1

Voltage drop in the control power].
Indicates that there is no tenth alarm in the

past.
Alarm history
Indicates that there is no eleventh alarm in

the past.
Indicates that there is no twelfth alarm in the

past.
Indicates that there is no sixteenth alarm in

the past.
This indicates no occurrence of [AL. 37

Parameter error].
Parameter error No.

The data content error of [Pr. PA12 Reverse
rotation torque limit].
4 - 26
4. STARTUP
Functions at occurrence of an alarm

(1) Any mode screen displays the current alarm.
(2) Even during alarm occurrence, the other screen can be viewed by pressing the button in the operation
area. At this time, the decimal point in the fourth digit remains flickering.
(3) For any alarm, remove its cause and clear it in any of the following methods. (Refer to chapter 8 for the
alarms that can be cleared.)
(a) Switch power off, then on.
(b) Push the "SET" button on the current alarm screen.
(c) Turn on RES (Reset).
(4) Use [Pr. PC18] to clear the alarm history.
(5) Push "UP" or "DOWN" to move to the next history.
4 - 27
4. STARTUP
4.5.6 Parameter mode
POINT
To use the I/O setting parameters, change [Pr. PA19 Parameter writing inhibit].
(Refer to section 5.1.1)
(1) Parameter mode transition

After selecting the corresponding parameter mode with the "MODE" button, pushing the "UP" or
"DOWN" button changes the display as shown below.
To status⁁ᘒ⴫␜ࡕ࡯࠼߳
display mode
MODE
Basic setting Gain/filter
ࠥࠗࡦ࡮ࡈࠖ࡞࠲ Extension setting I/O setting
౉಴ജ⸳ቯ Extension
᜛ᒛ⸳ቯ2 setting 2 Extension
᜛ᒛ⸳ቯ3 setting 3
Alarm mode
ࠕ࡜࡯ࡓࡕ࡯࠼߆ࠄ ၮᧄ⸳ቯࡄ࡜ࡔ࡯࠲
parameters ࡄ࡜ࡔ࡯࠲
parameters ᜛ᒛ⸳ቯࡄ࡜ࡔ࡯࠲
parameters parameters
ࡄ࡜ࡔ࡯࠲
[Pr.PA01] [Pr.PB01] [Pr.PC01] [Pr.PD01] [Pr.PE01] [Pr.PF01]
UP
DOWN
4 - 28
4. STARTUP
(2) Operation example

(a) Parameters of 5 or less digits
The following example shows the operation procedure performed after power-on to change the
control mode to the speed control mode with [Pr. PA01 Operation mode]. Press "MODE" to switch to
the basic setting parameter screen.
The parameter number is displayed.

̖̖ ࡄ࡜ࡔ࡯࠲⇟ภࠍ⴫␜ߒ߹ߔ‫ޕ‬
"UP"ࡏ࠲ࡦ߹ߚߪ"DOWN"ࡏ࠲ࡦࠍ᛼ߔߣ⇟ภ߇ᄌࠊࠅ߹ߔ‫ޕ‬
Press "UP" or "DOWN" to change the number.
Press "SET" twice.

"SET"ࡏ࠲ࡦࠍ2࿁᛼ߒ߹ߔ‫ޕ‬
̖̖The set value of the specified parameter number flickers.

ᜰቯߒߚࡄ࡜ࡔ࡯࠲ߩ⸳ቯ୯߇ὐṌߒ߹ߔ‫ޕ‬
Press "SET" twice.

"UP"ࡏ࠲ࡦࠍ2࿁᛼ߒ߹ߔ‫ޕ‬
̖̖ During flickering, the set value can be changed.

ὐṌਛߪ⸳ቯ୯ࠍᄌᦝߢ߈߹ߔ‫ޕ‬
Use "UP" or "DOWN".
"UP"ࡏ࠲ࡦ߹ߚߪ"DOWN"ࡏ࠲ࡦࠍ૶↪ߒߡߊߛߐ޿‫ޕ‬
(_ _ _ 2:
2: Speed
ㅦᐲ೙ᓮࡕ࡯࠼)
control mode)
Press "SET" to enter.
"SET"ࡏ࠲ࡦࠍ᛼ߒߡ⏕ቯߒ߹ߔ‫ޕ‬
To shift to the next parameter, press the "UP" or "DOWN" button.

When changing the [Pr. PA01] setting, change its set value, then switch power off once and switch it
on again to make the new value valid.
4 - 29
4. STARTUP
(b) Parameters of 6 or more digits

The following example gives the operation procedure to change the electronic gear numerator to
"123456" with [Pr. PA06 Electronic gear numerator].
Press "MODE" to switch to the basic setting parameter screen.
"MODE"ࡏ࠲ࡦࠍ᛼ߒߡၮᧄࡄ࡜ࡔ࡯࠲ߩ↹㕙ߦߒ߹ߔ‫ޕ‬
Press"UP"
"UP"or
or"DOWN"
"DOWN"totoselect
select[Pr.
[Pr.PA06].
"UP"ࡏ࠲ࡦ߹ߚߪ"DOWN"ࡏ࠲ࡦࠍ᛼ߒߡ[Pr.PA06]ࠍㆬᛯ
Press PA06].
ߒߡߊߛߐ޿‫ޕ‬
Press "SET" once.

Setting of lower 4
Setting of upper 1 digit
਄1ᩴߩ⸳ቯ "MODE"ࡏ࠲ࡦࠍ1࿁᛼ߒ digits
ਅ4ᩴߩ⸳ቯ
Press
߹ߔ‫"ޕ‬MODE" once.
Press "SET" once.

̖̖ The screen flickers.̖̖

↹㕙߇ὐṌߒ߹ߔ‫ޕ‬
Press "UP" or "DOWN" to

"UP"ࡏ࠲ࡦ߹ߚߪ"DOWN"
change the setting.
ࡏ࠲ࡦߢ⸳ቯ୯ࠍᄌᦝߒ߹
ߔ‫ޕ‬
Press "SET" once.

Enter the setting. ̖

̖̖⸳ቯ୯ࠍ⏕ቯߒ߹ߔ‫ޕ‬
Press "MODE" once.

"MODE"ࡏ࠲ࡦࠍ1࿁᛼ߒ߹ߔ‫ޕ‬
4 - 30
4. STARTUP
4.5.7 External I/O signal display
POINT
The I/O signal settings can be changed using the I/O setting parameters [Pr.
PD03] to [Pr. PD28].
The on/off states of the digital I/O signals connected to the servo amplifier can be confirmed.
(1) Operation
Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen.
Press "UP" twice.

̖̖ External I/O signal display screen

ᄖㇱ౉಴ജାภ⴫␜↹㕙
(2) Display definition

The 7-segment LED segments and CN1 connector pins correspond as shown below.
CN1 CN1 CN1 CN1 CN1 CN1 CN1 CN1 CN1 CN1
42 45 18 17 16 41 19 15 44 43
Input signal
౉ജାภ
Always
ᏱᤨὐἮ lit
Output಴ജାภ
signals
CN1 CN1 CN1 CN1 CN1 CN1 CN1

33 48 22 25 23 24 49
Light
ὐἮ:on:ࠝࡦon
Light
ᶖἮ:off:
ࠝࡈoff
The LED segment corresponding to the pin is lit to indicate on, and is extinguished to indicate off.
The signals corresponding to the pins in the respective control modes are indicated below.
4 - 31
4. STARTUP
(a) Control modes and I/O signals

Signal (Note 2) Symbols of I/O signals in control modes
Connector Pin No. input/output Related parameter
P P/S S S/T T T/P
(Note 1) I/O
15 I SON SON SON SON SON SON Pr. PD03/Pr. PD04
16 I -/SP2 SP2 SP2/SP2 SP2 SP2/- Pr. PD05/Pr. PD06
17 I PC PC/ST1 ST1 ST1/RS2 RS2 RS2/PC Pr. PD07/Pr. PD08
18 I TL TL/ST2 ST2 ST2/RS1 RS1 RS1/TL Pr. PD09/Pr. PD10
19 I RES RES RES RES RES RES Pr. PD11/Pr. PD12
22 O INP INP/SA SA SA/- -/INP Pr.PD23
23 O ZSP ZSP ZSP ZSP ZSP ZSP Pr. PD24
CN1 25 O TLC TLC TLC TLC/VLC VLC VLC/TLC Pr. PD26
33 O OP OP OP OP OP OP
41 I CR CR/SP1 SP1 SP1/SP1 SP1 SP1/CR Pr. PD13/Pr. PD14
42 I EM2 EM2 EM2 EM2 EM2 EM2
43 I LSP LSP LSP LSP/- -/LSP Pr. PD17/Pr. PD18
44 I LSN LSN LSN LSN/- -/LSN Pr. PD19/Pr. PD20
45 I LOP LOP LOP LOP LOP LOP Pr. PD21/Pr. PD22
48 O ALM ALM ALM ALM ALM ALM
49 O RD RD RD RD RD RD Pr. PD28
Note 1. I: input signal, O: output signal

2. P: position control mode, S: speed control mode, T: torque control mode
P/S: position/speed control switching mode, S/T: speed/torque control switching mode, T/P: torque/position switching mode
(b) Symbol and signal names

Symbol Application Symbol Application
SON Servo-on RES Reset
LSP Forward rotation stroke end EM2 Forced stop 2
LSN Reverse rotation stroke end LOP Control switching
CR Clear TLC Limiting torque
SP1 Speed selection 1 VLC Limiting speed
SP2 Speed selection 2 RD Ready
PC Proportion control ZSP Zero speed detection
ST1 Forward rotation start INP In-position
ST2 Reverse rotation start SA Speed reached
RS1 Forward rotation selection ALM Malfunction
RS2 Reverse rotation selection OP Encoder Z-phase pulse (open collector)
TL External torque limit selection
4 - 32
4. STARTUP
(3) Display data at initial values

(a) Position control mode
CR(CN1-41)
PC(CN1-17) RES(CN1-19)
TL(CN1-18) SON(CN1-15)
LOP(CN1-45) LSN(CN1-44)
EM2(CN1-42) LSP(CN1-43)
Input signal
౉ജାภ
Light
ὐἮ:on:ࠝࡦon
Output಴ജାภ
signals Light
ᶖἮ:off:
ࠝࡈoff
OP(CN1-33) RD(CN1-49)
ALM(CN1-48) INP(CN1-24)
ZSP(CN1-23)
TLC(CN1-25)
INP(CN1-22)
(b) Speed control mode

SP2(CN1-16) SP1(CN1-41)
ST1(CN1-17) RES(CN1-19)
ST2(CN1-18) SON(CN1-15)
LOP(CN1-45) LSN(CN1-44)
EM2(CN1-42) LSP(CN1-43)
Input signal
౉ജାภ
Light
ὐἮ:on:ࠝࡦon
Output಴ജାภ
signals Light
ᶖἮ:off:
ࠝࡈoff
OP(CN1-33) RD(CN1-49)
ALM(CN1-48) SA(CN1-24)
ZSP(CN1-23)
TLC(CN1-25)
SA(CN1-22)
(c) Torque control mode

SP2(CN1-16)
RS2(CN1-17)
RS1(CN1-18) SP1(CN1-41)
LOP(CN1-45) RES(CN1-19)
EM2(CN1-42) SON(CN1-15)
Input signal
౉ജାภ
Light
ὐἮ:on:ࠝࡦon
Output಴ജାภ
signals Light
ᶖἮ:off:
ࠝࡈoff
OP(CN1-33) RD(CN1-49)
ALM(CN1-48)
ZSP(CN1-23)
VLC(CN1-25)
4 - 33
4. STARTUP
4.5.8 Output signal (DO) forced output
POINT
When the servo system is used in a vertical lift application, turning on MBR
(Electromagnetic brake interlock) by the DO forced output after assigning it to
connector CN1 will release the electromagnetic brake, causing a drop. Take
drop preventive measures on the machine side.
Output signals can be switched on/off forcibly independently of the servo status. This function is used for
output signal wiring check, etc. This operation must be performed in the servo off state by turning off the
SON (Servo-on).
Operation
Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen.
Press "UP" three times.

Press "SET" for longer than 2 s.

"SET"ࡏ࠲ࡦࠍ2sએ਄᛼ߒ߹ߔ‫ޕ‬
Switch on/off the signal below the lit segment.

̖̖ ὐἮߒߡ޿ࠆLEDߩਅᲑߩାภࠍࠝࡦ/ࠝࡈߦߒ߹ߔ‫ޕ‬
Always lit
ᏱᤨὐἮ
Indicates on/off of output signal.
̖̖ ಴ജାภߩࠝࡦ/ࠝࡈࠍ␜ߒ߹ߔ‫ޕ‬ౝኈߪᄖㇱ౉಴ജାภ⴫␜ߩ
Definitions of on/off are the same
಴ജାภߣหߓߢߔ‫(ޕ‬ὐἮ: as thoseࠝࡈ)
ࠝࡦ㧘ᶖἮ: for the external I/O signals.
(Light on: on, light off: off)
CN1 CN1 CN1 CN1 CN1 CN1 CN1
33 48 22 25 23 24 49
Press "DOWN" once.
"MODE"ࡏ࠲ࡦࠍ1࿁᛼ߒ߹ߔ‫ޕ‬
̖̖The lit LED moves to the upper LED of CN1-24.

CN1-24ࡇࡦߩ਄Ბߦ⒖േߒ߹ߔ‫ޕ‬
Press "UP" once.

̖̖ CN1-24 switches on.

CN1-24ࡇࡦ߇ࠝࡦߦߥࠅ߹ߔ‫ޕ‬
(Between CN1-24 and DOCOM are connected.)
(CN1-24ࡇࡦ-DOCOM㑆߇ዉㅢߦߥࠅ߹ߔ‫)ޕ‬
Press "DOWN" once.

"DOWN"ࡏ࠲ࡦࠍ1࿁᛼ߒ߹ߔ‫ޕ‬
̖̖CN1-24 switches off.

CN1-24ࡇࡦ߇ࠝࡈߦߥࠅ߹ߔ‫ޕ‬

4 - 34
4. STARTUP
4.5.9 Test operation mode
The test operation mode is designed for checking servo operation. Do not use it
CAUTION for actual operation.
If the servo motor operates unexpectedly, use EM2 (Forced stop 2) to stop it.
POINT
The test operation mode cannot be used in the absolute position detection
system by DIO ([Pr. PA03: _ _ _1]).
MR Configurator2 is required to perform positioning operation.
Test operation cannot be performed if SON (Servo-on) is not turned off.
(1) Mode switching

Call the display screen shown after power-on. Select JOG operation or motor-less operation in the
following procedure. Using the "MODE" button, show the diagnostic screen.
Press "UP" four times.


̖̖ When this screen appears, JOG operation

ߎߩ↹㕙ߦߥࠆߣJOG
can be performed.
ㆇォ߇น⢻ߦߥࠅ߹ߔ‫ޕ‬
Flickers in the test operation mode.

࠹ࠬ࠻ㆇォࡕ࡯࠼ߦߥࠆߣὐṌߒ߹ߔ‫ޕ‬
4 - 35
4. STARTUP
(2) JOG operation
POINT
When performing JOG operation, turn on EM2, LSP and LSN. LSP and LSN can
be set to automatic on by setting [Pr. PD01] to " _ C _ _ ".
JOG operation can be performed when there is no command from the controller.
(a) Operation
The servo motor rotates while holding down the "UP" or the "DOWN" button. The servo motor stops
rotating by releasing the button. The operation condition can be changed using MR Configurator2.
The initial operation condition and setting range for operation are listed below.
Item Initial setting Setting range
0 to instantaneous permissible
Speed [r/min] 200
speed
Acceleration/deceleration
1000 0 to 50000
time constant [ms]
The following table shows how to use the buttons.

Button Description
Press to start CCW rotation.
"UP"
Release to stop.
Press to start CW rotation.
"DOWN"
Release to stop.
If the USB cable is disconnected during JOG operation using the MR Configurator2, the servo motor
decelerates to a stop.
(b) Status display

You can confirm the servo status during jog operation.
Pressing the "MODE" button in the jog operation-ready status calls the status display screen. With
this screen being shown, perform JOG operation with the "UP" or "DOWN" button. Every time the
"MODE" button is pushed, the next status display screen appears. When one cycle of the screen
display is complete, it returns to the jog operation-ready status screen. Refer to section 4.5.3 for
details of status display. Note that the status display screen cannot be changed by "UP" or "DOWN"
button in the test operation mode.
(c) Termination of JOG operation

To end the JOG operation, shut the power off once, or press the "MODE" button to switch to the next
screen, and then hold down the "SET" button for 2 s or longer.
4 - 36
4. STARTUP
(3) Positioning operation
POINT
MR Configurator2 is required to perform positioning operation.
Turn on EM2 (forced stop 2) when performing positioning operation.
Positioning operation can be performed when there is no command from an external controller.
(a) Operation
m)
n)
g)
a)
b)
c)
d)
e)
f) l)
h)
i)
j) k)
a) Motor speed [r/min]

Enter the servo motor speed into the "Motor speed" input field.
b) Acceleration/deceleration time constant [ms]

Enter the acceleration/deceleration time constant into the "Accel/decel time" input field.
c) Travel distance [pulse]

Enter the travel distance into the "Travel distance" input field.
d) LSP/LSN are automatically turned on

When setting the external stroke signal to automatic on, click the check box to enable it. When
it is not checked, turn on LSP and LSN externally.
e) Move till Z-phase signal

Travel is made until the travel distance is reached and the first Z-phase signal in the travelling
direction turns on.
4 - 37
4. STARTUP
f) Travel distance unit selection

Select with the option buttons whether the travel distance set in c) is in the command pulse
unit or in the encoder pulse unit.
When the command input pulse unit is selected, the value, which is the set travel distance
multiplied by the electronic gear, will be the command value. When the encoder pulse unit is
selected, the travel distance is not multiplied by the electronic gear.
g) Enable repeat operation

To perform repeat operation, click the check. The initial setting and setting range for the repeat
operation are listed below.
Item Initial setting Setting range
Fwd. rot. (CCW) to rev.
rot. (CW)
Fwd. rot. (CCW) to fwd.
Fwd. rot. (CCW) to rev. rot. (CCW)
Repeat pattern
rot. (CW) Rev. rot. (CW) to fwd.
rot. (CCW)
Rev. rot. (CW) to rev. rot.
(CW)
Dwell time [s] 2.0 01 to 50.0
Number of operations
1 1 to 9999
[times]
To perform continuous operation with the repeat pattern and dwell time settings, which are set
by referring to the above table, click the check box of "Make the aging function enabled".
h) Forward/reverse the servo motor

Click the "Forward" button to rotate the servo motor in the forward rotation direction.
Click the "Reverse" button to rotate the servo motor in the reverse rotation direction.
i) Pause the servo motor

Click the "Pause" button during servo motor rotation to temporarily stop the servo motor.
This button is enabled during servo motor rotation.
h) Stop the servo motor

Click the "Stop" button during servo motor rotation to stop the servo motor.
k) Forced stop
Click the "Forced stop" button during servo motor rotation to make a sudden stop.
This button is enabled during servo motor rotation.
l) Operation status
The operation status during the repeat operation, and the number of operations are displayed
m) Axis No.
Axis No. in operation is displayed.
n) Termination of positioning operation window

Click the close button to cancel the positioning operation mode and close the window.
(b) Status display

The status display can be monitored during positioning operation.
4 - 38
4. STARTUP
(4) Motor-less operation

Without connecting the servo motor, output signals or status display can be provided in response to the
input device as if the servo motor is actually running. This operation can be used to check the sequence
of a programmable controller or the like.
(a) Operation
Turn off SON (Servo-on), and then select motor-less operation. After that, perform external operation
as in ordinary operation.
(b) Start of motor-less operation

After setting "_ _ _ 1" in [Pr. PC60], cycle the power. After that, perform external operation as in
ordinary operation.
(c) Termination of motor-less operation

To terminate the motor-less operation, set [Pr. PC60] to "_ _ _ 0" and then turn the power off.
(5) Program operation

Positioning operation can be performed in two or more operation patterns combined, without using a
controller. Use this operation with the forced stop reset. This operation may be used independently of
whether servo-on or servo-off and whether a controller is connected or not.
Exercise control on the program operation screen of MR Configurator2. For full information, refer to the
MR Configurator2 Installation Guide.
Operation Screen control
Start Click the "Operation start" button.
Stop Click the "Stop" button.
Forced stop Click the "Forced stop" button.
(6) Output signal (DO) forced output

Output signals can be switched on/off forcibly independently of the servo status. This function is used for
output signal wiring check, etc. Exercise control on the DO forced output screen of MR Configurator2.
4 - 39
4. STARTUP
MEMO
4 - 40
5. PARAMETERS
5. PARAMETERS
Never adjust or change the parameter values extremely as it will make operation
unstable.
CAUTION If fixed values are written in the digits of a parameter, do not change these values.
Do not change parameters for manufacturer setting.
5.1 Parameter list
POINT
To enable a parameter whose symbol is preceded by *, cycle the power after
setting it.
The symbols in the control mode column mean as follows.
P: Position control mode
S: Speed control mode
T: Torque control mode
5.1.1 Basic setting parameters ([Pr. PA_ _ ])

Control
No. Symbol Name Initial Unit mode
value
P S T
PA01 STY Operation mode 1000h
PA02 REG Regenerative option 0000h
PA03 ABS Absolute position detection system 0000h
PA04 AOP1 Function selection A-1 2000h
PA05 FBP Number of command input pulses per revolution 10000
PA06 CMX Electronic gear numerator (command pulse multiplication numerator) 1
PA07 CDV Electronic gear denominator (command pulse multiplication denominator) 1
PA08 ATU Auto tuning mode 0001h
PA09 RSP Auto tuning response 16
PA10 INP In-position range 100 [pulse]
PA11 TLP Forward rotation torque limit 100.0 [%]
PA12 TLN Reverse rotation torque limit 100.0 [%]
PA13 PLSS Command pulse input form 0100h
PA14 POL Rotation direction selection 0
PA15 ENR Encoder output pulses 4000 [pulse/rev]
PA16 ENR2 Encoder output pulses 2 1
PA17 For manufacturer setting 0000h
PA18 0000h
PA19 BLK Parameter writing inhibit 00AAh
PA20 TDS Tough drive setting 0000h
PA22 For manufacturer setting 0000h
PA23 DRAT Drive recorder arbitrary alarm trigger setting 0000h
PA25 For manufacturer setting 0
PA26 0000h
PA27 0000h
PA28 0000h
PA29 0000h
PA30 0000h
PA31 0000h
PA32 0000h
5- 1
5. PARAMETERS
5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])

Control
Initial
No. Symbol Name Unit mode
value
P S T
PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h
Vibration suppression control tuning mode (advanced vibration
PB02 VRFT 0000h
suppression control II)
Position command acceleration/deceleration time constant (position
PB03 PST 0 [ms]
smoothing)
PB04 FFC Feed forward gain 0 [%]
PB05 For manufacturer setting 500
PB06 GD2 Load to motor inertia ratio 7.00 [Multiplier]
PB07 PG1 Model loop gain 15.0 [rad/s]
PB08 PG2 Position loop gain 37.0 [rad/s]
PB09 VG2 Speed loop gain 823 [rad/s]
PB10 VIC Speed integral compensation 33.7 [ms]
PB11 VDC Speed differential compensation 980
PB12 OVA Overshoot amount compensation 0 [%]
PB13 NH1 Machine resonance suppression filter 1 4500 [Hz]
PB14 NHQ1 Notch shape selection 1 0000h
PB17 NHF Shaft resonance suppression filter 0000h
PB18 LPF Low-pass filter setting 3141 [rad/s]
PB19 VRF11 Vibration suppression control 1 - Vibration frequency 100.0 [Hz]
PB20 VRF12 Vibration suppression control 1 - Resonance frequency 100.0 [Hz]
PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping
dumping 0.00
PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping
dumping 0.00
PB23 VFBF Low-pass filter selection 0000h
PB24 MVS Slight vibration suppression control 0000h
PB25 BOP1 Function selection B-1 0000h
PB26 *CDP Gain switching function 0000h
[kpps]/
PB27 CDL Gain switching condition 10 [pulse]/
[r/min]
PB28 CDT Gain switching time constant 1 [ms]
PB29 GD2B Load to motor inertia ratio after gain switching 7.00 [Multiplier]
PB30 PG2B Position loop gain after gain switching 0.0 [rad/s]
PB31 VG2B Speed loop gain after gain switching 0 [rad/s]
PB32 VICB Speed integral compensation after gain switching 0.0 [ms]
PB33 VRF1B Vibration suppression control 1 - Vibration frequency after gain switching 0.0 [Hz]
Vibration suppression control 1 - Resonance frequency after gain
PB34 VRF2B 0.0 [Hz]
switching
Vibration suppression control 1 - Vibration frequency dumping
damping after gain
PB35 VRF3B 0.00
switching
Vibration suppression control 1 - Resonance frequency damping
dumping after
PB36 VRF4B 0.00
gain switching
PB37 For manufacturer setting 1600
PB38 0.00
PB39 0.00
PB40 0.00
PB41 0000h
PB42 0000h
PB43 0000h
PB44 0.00
PB45 CNHF Command notch filter 0000h
5- 2
5. PARAMETERS

Control
Initial
value
P S T
PB52 VRF21 Vibration suppression control 2 - Vibration frequency 100.0 [Hz]
PB53 VRF22 Vibration suppression control 2 - Resonance frequency 100.0 [Hz]
PB54 VRF23 Vibration suppression control 2 - Vibration frequency damping
dumping 0.00
PB55 VRF24 Vibration suppression control 2 - Resonance frequency damping
dumping 0.00
PB56 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching 0.0 [Hz]
PB57 VRF22B Vibration suppression control 2 - Resonance frequency after gain 0.0 [Hz]
switching
PB58 VRF23B Vibration suppression control 2 - Vibration frequency dumping
damping after gain 0.00
switching
PB59 damping after
VRF24B Vibration suppression control 2 - Resonance frequency dumping 0.00
gain switching
PB60 PG1B Model loop gain after gain switching 0.0 [rad/s]
PB61 For manufacturer setting 0.0
PB62 0000h
PB63 0000h
PB64 0000h
5.1.3 Extension setting parameters ([Pr. PC_ _ ])

Control
Initial
value
P S T
PC01 STA Acceleration time constant 0 [ms]
PC02 STB Deceleration time constant 0 [ms]
PC03 STC S-pattern acceleration/deceleration time constant 0 [ms]
PC04 TQC Torque command time constant 0 [ms]
Internal speed command 1
PC05 SC1 100 [r/min]
Internal speed limit 1
PC07 SC3 1000 [r/min]
Analog speed command - Maximum speed
PC12 VCM 0 [r/min]
Analog speed limit - Maximum speed
PC13 TLC Analog torque command maximum output 100.0 [%]
PC14 MOD1 Analog monitor 1 output 0000h
PC15 MOD2 Analog monitor 2 output 0001h
PC16 MBR Electromagnetic brake sequence output 0 [ms]
PC17 ZSP Zero speed 50 [r/min]
PC18 BPS Alarm history clear 0000h
PC19 ENRS Encoder output pulse selection 0000h
PC20 SNO Station number setting 0 [station]
PC21 For manufacturer setting 0000h
PC22 COP1 Function selection C-1 0000h
5- 3
5. PARAMETERS

Control
Initial
value
P S T
PC29 0000h
PC30 STA2 Acceleration time constant 2 0 [ms]
PC31 STB2 Deceleration time constant 2 0 [ms]
PC32 CMX2 Command input pulse multiplication numerator 2 1
PC35 TL2 Internal torque limit 2 100.0 [%]
PC36 DMD Status display selection 0000h
Analog speed command offset
PC37 VCO 0 [mV]
Analog speed limit offset
Analog torque command offset
PC38 TPO 0 [mV]
Analog torque limit offset
PC39 MO1 Analog monitor 1 offset 0 [mV]
PC40 MO2 Analog monitor 2 offset 0 [mV]
PC41 For manufacturer setting 0
PC42 0
PC43 ERZ Error excessive alarm detection level 0 [rev]
PC45 0000h
PC46 0
PC47 0
PC48 0
PC49 0
PC50 0000h
PC51 RSBR Forced stop deceleration time constant 100 [ms]
PC53 0
PC54 RSUP1 Vertical axis freefall prevention compensation amount 0 [0.0001 rev]
PC56 100
PC57 0000h
PC58 0
PC59 0000h
PC60 COPD Function selection C-D 0000h
PC62 0000h
PC63 0000h
PC64 0000h
PC65 0000h
PC66 0000h
PC67 0000h
PC68 0000h
PC69 0000h
PC70 0000h
PC71 0000h
PC72 0000h
PC73 0000h
PC74 0000h
PC75 0000h
PC76 0000h
5- 4
5. PARAMETERS

Control
Initial
value
P S T
PC78 0000h
PC79 0000h
PC80 0000h
5.1.4 I/O setting parameters ([Pr. PD_ _ ])

Control
Initial
value
P S T
PD01 DIA1 Input signal automatic on selection 1 0000h
PD02 For manufacturer setting 0000h
PD03 DI1L Input device selection 1L 0202h
PD04 DI1H Input device selection 1H 0000h
PD16 0000h
PD17 DI8L Input device selection 8L 0A0Ah
PD19 DI9L Input device selection 9L 0B0Bh
PD23 DO1 Output device selection 1 0004h
PD24 DO2 Output device selection 2 000Ch
PD29 DIF Input filter setting 0004h
PD30 DOP1 Function selection D-1 0000h
PD36 0000h
PD37 0000h
PD38 0
PD39 0
PD40 0
PD41 0000h
PD42 0000h
PD43 0000h
PD44 0000h
PD45 0000h
5- 5
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5. PARAMETERS

Control
Initial
value
P S T
PE47 For manufacturer setting 0000h
PE48 0000h
PE49 0000h
PE50 0000h
PE51 0000h
PE52 0000h
PE53 0000h
PE54 0000h
PE55 0000h
PE56 0000h
PE57 0000h
PE58 0000h
PE59 0000h
PE60 0000h
PE61 0.00
PE62 0.00
PE63 0.00
PE64 0.00
5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])

Control
Initial
value
P S T
PF01 For manufacturer setting 0000h
PF02 0000h
PF03 0000h
PF04 0
PF05 0
PF06 0000h
PF07 1
PF08 1
PF09 0000h
PF10 0000h
PF11 0000h
PF12 10000
PF13 100
PF14 100
PF15 2000
PF16 0000h
PF17 10
PF18 0000h
PF19 0000h
PF20 0000h
PF21 DRT Drive recorder switching time setting 0 [s]
PF22 For manufacturer setting 200
PF23 OSCL1 Vibration tough drive - Oscillation detection level 50 [%]
PF24 OSCL2 Vibration tough drive function selection 0000h
PF25 CVAT Instantaneous power failure tough drive - Detection time 200 [ms]
PF27 0
PF28 0
PF29 0000h
PF30 0
PF31 FRIC Machine diagnosis function - Friction judgement speed 0 [r/min]
5- 7
5. PARAMETERS

Control
Initial
value
P S T
PF33 0000h
PF34 0000h
PF 35 0000h
PF36 0000h
PF37 0000h
PF38 0000h
PF39 0000h
PF40 0000h
PF41 0000h
PF42 0000h
PF43 0000h
PF44 0000h
PF45 0000h
PF46 0000h
PF47 0000h
PF48 0000h
5.2 Detailed list of parameters
POINT
"x" in the "Setting digit" columns means which digit to set a value.
5.2.1 Basic setting parameters ([Pr. PA_ _ ])

Initial Control
Setting
No./symbol/name Function value mode
digit
[unit] P S T
PA01 ___x Control mode selection 0h
STY Select a control mode.
Operation mode 0: Position control mode
1: Position control mode and speed control mode
2: Speed control mode
3: Speed control mode and torque control mode
4: Torque control mode
5: Torque control mode and position control mode
__x_ For manufacturer setting 0h

_x__ 0h
x___ 1h
5- 8
5. PARAMETERS

Initial Control
Setting
digit
[unit] P S T
PA02 __xx Regenerative option selection 00h
REG Used to select the regenerative option.
Regenerative Incorrect setting may cause the regenerative option to burn.
option If a selected regenerative option is not for use with the servo amplifier, [AL. 37
Parameter error] occurs.
00: Regenerative option is not used

For servo amplifier of 100 W, regenerative resistor is not used.
For servo amplifier of 0.2 kW to 7 kW, built-in regenerative resistor is used.
01: FR-RC/FR-CV/FR-BU2
When you use FR-RC, FR-CV, or FR-BU2, select "Mode 2 (_ _ _ 1)" of
"Undervoltage alarm detection mode selection" in [Pr. PC27].
02: MR-RB032
03: MR-RB12
04: MR-RB32
05: MR-RB30
06: MR-RB50 (Cooling fan is required.)
08: MR-RB31
09: MR-RB51 (Cooling fan is required.)
0B: MR-RB3N
0C: MR-RB5N (Cooling fan is required.)
_x__ For manufacturer setting 0h
x___ 0h
PA03 ___x Absolute position detection system selection 0h
ABS Set this parameter when using the absolute position detection system in the
Absolute position control mode.
position 0: Disabled (incremental system)
detection 1: Enabled (absolute position detection system by DIO)
system
_x__ 0h
x___ 0h
PA04 ___x For manufacturer setting 0h
AOP1 __x_ 0h
Function _x__ 0h
selection A-1
x___ Forced stop deceleration function selection 2h
0: Forced stop deceleration function disabled (EM1)
2: Forced stop deceleration function enabled (EM2)
Refer to table 5.1 for details.
Table 5.1 Deceleration method
Setting Deceleration method
EM2/EM1
value EM2 or EM1 is off Alarm occurred
0___ EM1 MBR (Electromagnetic MBR (Electromagnetic
brake interlock) turns off brake interlock) turns off
without the forced stop without the forced stop
deceleration. deceleration.
2___ EM2 MBR (Electromagnetic MBR (Electromagnetic
brake interlock) turns off brake interlock) turns off
after the forced stop after the forced stop
deceleration. deceleration.
PA05 The servo motor rotates based on set command input pulses. 10000
FBP To enable the parameter value, select "Number of command input pulses per
Number of revolution (1 _ _ _)" of "Electronic gear selection" in [Pr. PA21].
command input
pulses per Setting range: 1000 to 1000000
revolution
5- 9
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࿁ォ޽ߚࠅߩᜰ઎౉ജࡄ࡞ࠬᢙ>3U3$@
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Electronic gear selection

㔚ሶࠡࠕㆬᛯ Electronic
㔚ሶࠡࠕgear
(x>3U3$@[BBB
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;
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ࠛࡦࠦ࡯࠳
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Pt (servo motor resolution): 4194304 [pulse/rev]
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5. PARAMETERS

Initial Control
Setting
digit
[unit] P S T
PA11 You can limit the torque generated by the servo motor. Set the parameter referring 100.0
TLP section 3.6.1 (5). [%]
Forward rotation The larger value of [Pr. PA11 Forward rotation torque limit value] or [Pr. PA12
torque limit Reverse rotation torque limit value] will be the maximum output voltage (8 V).
Set the parameter on the assumption that the maximum torque is 100 [%]. The
parameter is for limiting the torque of the servo motor in the CCW power running or
CW regeneration. Set this parameter to "0.0" to generate no torque.
Setting range: 0.0 to 100.0

PA12 You can limit the torque generated by the servo motor. Set the parameter referring 100.0
TLN section 3.6.1 (5). [%]
Reverse The larger value of [Pr. PA11 Forward rotation torque limit value] or [Pr. PA12
rotation torque Reverse rotation torque limit value] will be the maximum output voltage (8 V).
limit Set the parameter on the assumption that the maximum torque is 100 [%]. The
parameter is for limiting the torque of the servo motor in the CW power running or
CCW regeneration. Set this parameter to "0.0" to generate no torque.

PA13 ___x Command input pulse train form selection 0h
PLSS 0: Forward/reverse rotation pulse train
Command 1: Signed pulse train
pulse input form 2: A-phase/B-phase pulse train
Refer to table 5.3 for settings.
__x_ Pulse train logic selection 0h
0: Positive logic
1: Negative logic
_x__ Command input pulse train filter selection 1h
Selecting proper filter enables to enhance noise immunity.
0: Command input pulse train is 4 Mpps or less.
1: Command input pulse train is 1 Mpps or less.
2: Command input pulse train is 500 kpps or less.
x___ For manufacturer setting 0h
5 - 12
5. PARAMETERS

Initial Control
Setting
digit
[unit] P S T
PA13 Table 5.3 Command input pulse train form selection
PLSS
Command pulse Setting For forward rotation For reverse rotation
Pulse train form
input form value command command
PP
Forward rotation
pulse train
0010h
Reverse rotation NP
pulse train
PP
Negative logic
0011h Pulse train + sign

L H
NP
A-phase pulse PP
train
0012h
B-phase pulse
train NP
Forward rotation PP
pulse train
0000h
Reverse rotation
pulse train NP
Positive logic
PP
0001h Pulse train + sign
NP L
H
PP
A-phase pulse
train
0002h
B-phase pulse NP
train
Arrows in the table indicate the timing of importing pulse trains. A-phase and B-phase pulse trains are imported after
they have been multiplied by 4.
5 - 13
5. PARAMETERS
Initial Control
Setting
digit
[unit] P S T
PA14 Select servo motor rotation direction relative to the input pulse train. 0
POL
Rotation Servo motor rotation direction
Setting
direction value When forward rotation When reverse rotation
selection pulse is input pulse is input
0 CCW CW
1 CW CCW
Forwardᱜォ(CCW)
rotation (CCW)
Reverse
ㅒォ(CW)
rotation (CW)
Setting range: 0,1

PA15 Set the encoder output pulses from the servo amplifier by using the number of 4000
ENR output pulses per revolution, dividing ratio, or electronic gear ratio. (after [pulse/
Encoder output multiplication by 4) rev]
pulses To set a numerator of the electronic gear, select "A-axis/B-axis pulse electronic
gear setting (_ _ 3 _)" of "Encoder output pulse setting selection" in [Pr. PC19].
The maximum output frequency is 4.6 Mpps. Set the parameter within this range.
Setting range: 1 to 4194304

PA16 Set a denominator of the electronic gear for the A/B-phase pulse output. 1
ENR2 To set a denominator of the electronic gear, select "A-axis/B-axis pulse electronic
Encoder output gear setting (_ _ 3 _)" of "Encoder output pulse setting selection" in [Pr. PC19].
pulses 2
5 - 14
5. PARAMETERS

Initial Control
Setting
digit
[unit] P S T
PA19 Select a reference range and writing range of the parameter. 00AAh
BLK Refer to table 5.4 for settings.
Parameter Table 5.4 [Pr. PA19] setting value and reading/writing range
writing inhibit
Setting
PA19 PA PB PC PD PE PF
operation
Other Reading
than
below Writing
Reading Only 19
000Ah
Writing Only 19
Reading
000Bh
Writing
Reading
000Ch
Writing
00AAh Reading
(initial
Writing
value)
Reading
100Bh
Writing Only 19
Reading
100Ch
Writing Only 19
Reading
10AAh
Writing Only 19

PA20 Alarms may not be avoided with the tough drive function depending on the situations of the power supply and load
TDS fluctuation.
Tough drive You can assign MTTR (During tough drive) to pins CN1-22 to CN1-25 and CN1-49 with [Pr. PD23] to [Pr. PD26] and
setting [Pr. PD28].
_ _ _ x For manufacturer setting 0h
_ _ x _ Vibration tough drive selection 0h
0: Disabled
1: Enabled
Selecting "1" enables to suppress vibrations by automatically changing setting

values of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15
Machine resonance suppression filter 2] in case that the vibration exceed the
value of the oscillation level set in [Pr. PF23].
To output the oscillation detection alarm as a warning, set [Pr. PF24 Vibration
tough drive function selection].
_x__ Instantaneous power failure tough drive selection 0h
0: Disabled
1: Enabled
Selecting "1" enables to avoid generating [AL. 10 Undervoltage] using the

electrical energy charged in the capacitor in case that an instantaneous power
failure occurs during operation. Set the time of until [AL. 10 Undervoltage] occurs
in [Pr. PF25 Instantaneous power failure tough drive - Detection time].
5 - 15
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5. PARAMETERS

Initial Control
Setting
digit
[unit] P S T
PB02 ___x Vibration suppression control 1 tuning mode selection 0h
VRFT Select the tuning mode of the vibration suppression control 1. Refer to section
Vibration 7.1.5 for details.
suppression 0: Disabled
control tuning 1: Automatic setting
mode 2: Manual setting
(advanced
vibration __x_ Vibration suppression control 2 tuning mode selection 0h
suppression Select the tuning mode of the vibration suppression control 2. To enable the digit,
control II) select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in [Pr.
PA24]. Refer to section 7.1.5 for details.
0: Disabled
1: Automatic setting
2: Manual setting
x___ 0h
PB03 This is used to set the constant of a primary delay to the position command. 0
PST You can select a control method from "Primary delay" or "Linear [ms]
Position acceleration/deceleration" in [Pr. PB25 Function selection B-1]. The setting range
command of "Linear acceleration/deceleration" is 0 ms to 10 ms. Setting of longer than 10
acceleration/de ms will be recognized as 10 ms.
celeration time When the linear acceleration/deceleration is selected, do not change the "Control
constant mode selection" ([Pr. PA01]). Doing so will cause the servo motor to make a
(position sudden stop at the time of position control mode switching or restart.
smoothing) (Example) When a command is given from a synchronizing encoder, synchronous
operation will start smoothly even if it start during line operation.
Synchronizing
หᦼ↪
encoder
ࠛࡦࠦ࡯࠳
Start
ᆎേ
Servo amplifier Servo
ࠨ࡯ࡏࠕࡦࡊ
Without time constant

ᤨቯᢙ⸳ቯߥߒ setting
Without
ᤨቯᢙ⸳ቯ᦭ time
Servo
ࠨ࡯ࡏࡕ࡯࠲motor constant setting
speed
࿁ォㅦᐲ
ON t
OFF
Start
ᆎേ

PB04 Set the feed forward gain. 0
FFC When the setting is 100%, the droop pulses during operation at constant speed [%]
Feed forward are nearly zero. However, sudden acceleration/deceleration will increase the
gain overshoot. As a guideline, when the feed forward gain setting is 100%, set 1 s or
more as the acceleration time constant up to the rated speed.
5 - 17
5. PARAMETERS

Initial Control
Setting
digit
[unit] P S T
PB06 This is used to set the load to motor inertia ratio. 7.00
GD2 The setting of the parameter will be the automatic setting or manual setting Multiplier
Load to motor depending on the [Pr. PA08] setting. Refer to the following table for details. (×1)
inertia ratio When the parameter is automatic setting, the value will vary between 0.00 and
100.00.
Pr.PA08 This parameter

_ _ _ 0 (2 gain adjustment mode 1 Automatic setting
(interpolation mode)
_ _ _ 1: (Auto tuning mode 1)
_ _ _ 2: (Auto tuning mode 2) Manual setting
_ _ _ 3 (Manual mode)
_ _ _ 4: (2 gain adjustment mode 2)
PB07 Set the response gain up to the target position. 15.0

PG1 Increasing the setting value will also increase the response level to the position [rad/s]
Model loop gain command but will be liable to generate vibration and/or noise.
The setting of the parameter will be the automatic setting or manual setting
depending on the [Pr. PA08] setting. Refer to the following table for details.

_ _ _ 0 (2 gain adjustment mode 1 Manual setting
(interpolation mode)(
_ _ _ 1: (Auto tuning mode 1) Automatic setting
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4: (2 gain adjustment mode 2)
PB08 This is used to set the gain of the position loop. 37.0
PG2 Set this parameter to increase the position response to level load disturbance. [rad/s]
Position loop Increasing the setting value will also increase the response level to the load
gain disturbance but will be liable to generate vibration and/or noise.
depending on the [Pr. PA08] setting. Refer to the following table for details.

_ _ _ 0 (2 gain adjustment mode 1 Automatic setting
(interpolation mode)(
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4: (2 gain adjustment mode 2) Automatic setting
PB09 This is used to set the gain of the speed loop. 823
VG2 Set this parameter when vibration occurs on machines of low rigidity or large [rad/s]
Speed loop gain backlash. Increasing the setting value will also increase the response level but
will be liable to generate vibration and/or noise.
depending on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.
5 - 18
5. PARAMETERS

Initial Control
Setting
digit
[unit] P S T
PB10 This is used to set the integral time constant of the speed loop. 33.7
VIC Decreasing the setting value will increase the response level but will be liable to [ms]
Speed integral generate vibration and/or noise.
compensation The setting of the parameter will be the automatic setting or manual setting
depending on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.

PB11 This is used to set the differential compensation. 980
VDC To enable the setting value, turn on PC (proportional control).
Speed
differential Setting range: 0 to 1000
compensation
PB12 Set a viscous friction torque per percent to the servo motor rated speed. 0
OVA When the response level is low, or when the torque is limited, the efficiency of the [%]
Overshoot parameter may be lower.
amount
compensation Setting range: 0 to 100
PB13 Machine resonance suppression filter 1 4500
NH1 Set the notch frequency of the machine resonance suppression filter 1. [Hz]
Machine When you select "Automatic setting (_ _ _ 1)" of "Filter tuning mode selection" in
resonance [Pr. PB01], this parameter will be adjusted automatically.
suppression When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr.
filter 1 PB01], the setting value will be enabled.

PB14 Set the shape of the machine resonance suppression filter 1.
NHQ1 When you select "Automatic setting (_ _ _ 1)" of "Filter tuning mode selection" in [Pr. PB01], this parameter will be
Notch shape adjusted automatically.
selection 1 Set manually for the manual setting.
_ _ _ x For manufacturer setting 0h
_ _ x _ Notch depth selection 0h
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
_ x _ _ Notch width selection 0h
0: Į = 2
1: Į = 3
2: Į = 4
3: Į = 5
x _ _ _ For manufacturer setting 0h
PB15 Set the notch frequency of the machine resonance suppression filter 2. 4500
NH2 To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance [Hz]
Machine suppression filter 2 selection" in [Pr. PB16].
resonance
suppression Setting range: 10 to 4500
filter 2
5 - 19
5. PARAMETERS

Initial Control
Setting
digit
[unit] P S T
NHQ2 _ _ _ x Machine resonance suppression filter 2 selection 0h
Notch shape 0: Disabled
selection 2 1: Enabled
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
0: Į = 2
1: Į = 3
2: Į = 4
3: Į = 5
PB17 Set the shaft resonance suppression filter.
NHF This is used to suppress a low-frequency machine vibration.
Shaft When you select "Automatic setting (_ _ _ 0)" of "Shaft resonance suppression filter selection" in [Pr. PB23], the
resonance value will be calculated automatically from the servo motor you use and load to motor inertia ratio. Set manually for
suppression "Manual setting (_ _ _ 1)".
filter When "Shaft resonance suppression filter selection" is "Disabled (_ _ _ 2)" in [Pr. PB23], the setting value of this
parameter will be disabled.
When you select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4 selection" in [Pr. PB49], the shaft
resonance suppression filter is not available.
_ _ x x Shaft resonance suppression filter setting frequency selection 00h
Set the value closest to the frequency you need.
_ x _ _ Notch depth selection 0h
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
Table 5.5 Shaft resonance suppression filter
setting frequency selection
Setti
ng Setting
Frequency [Hz] Frequency [Hz]
valu value
e
00 Disabled 10 562
01 Disabled 11 529
02 4500 12 500
03 3000 13 473
04 2250 14 450
05 1800 15 428
06 1500 16 409
07 1285 17 391
08 1125 18 375
09 1000 19 360
0A 900 1A 346
0B 818 1B 333
0C 750 1C 321
0D 692 1D 310
0E 642 1E 300
0F 600 1F 290
5 - 20
5. PARAMETERS

Initial Control
Setting
digit
[unit] P S T
PB18 Set the low-pass filter. 3141
LPF The following shows a relation of a required parameter to this parameter. [rad/s]
Low-pass filter
setting Setting range: 100 to 18000
[Pr. PB23] [Pr. PB18]

_ _ 0 _ (Initial Automatic setting
value)
__1_ Setting value
enabled
__2_ Setting value
disabled
PB19 Set the vibration frequency for vibration suppression control 1 to suppress low- 100.0
VRF11 frequency machine vibration. [Hz]
Vibration When "Vibration suppression control 1 tuning mode selection" is "Automatic
suppression setting (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. Set
control 1 - manually for "Manual setting (_ _ _ 2)". Refer to section 7.1.5 for details.
Vibration
frequency Setting range: 0.1 to 300.0
PB20 Set the resonance frequency for vibration suppression control 1 to suppress low- 100.0
Resonance
frequency Setting range: 0.1 to 300.0
PB21 Set a dumping
damping of the vibration frequency for vibration suppression control 1 to 0.00
VRF13 suppress low-frequency machine vibration.
Vibration
frequency
dumping
damping Setting range: 0.00 to 0.30
PB22 Set a dumping
damping of the resonance frequency for vibration suppression control 1 to 0.00
Resonance
frequency
damping
dumping Setting range: 0.00 to 0.30
PB23 ___x Shaft resonance suppression filter selection 0h
VFBF Select the shaft resonance suppression filter.
Low-pass filter 0: Automatic setting
selection 1: Manual setting
2: Disabled
When you select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4
selection" in [Pr. PB49], the shaft resonance suppression filter is not available.
__x_ Low-pass filter selection 0h
Select the low-pass filter.
0: Automatic setting
1: Manual setting
2: Disabled
x___ 0h
5 - 21
5. PARAMETERS

Initial Control
Setting
digit
[unit] P S T
PB24 ___x Slight vibration suppression control selection 0h
MVS Select the slight vibration suppression control.
Slight vibration 0: Disabled
suppression 1: Enabled
control To enable the slight vibration suppression control, select "Manual mode (_ _ _ 3)"
of "Gain adjustment mode selection" in [Pr. PA08]. Slight vibration suppression
control cannot be used in the speed control mode.
_x__ 0h
x___ 0h
PB25 ___x For manufacturer setting 0h
BOP1 __x_ Position acceleration/deceleration filter type selection 0h
Function Select the position acceleration/deceleration filter type.
selection B-1 0: Primary delay
1: Linear acceleration/deceleration
When you select "Linear acceleration/deceleration", do not switch the control
mode. Doing so will cause the servo motor to make a sudden stop at the time of
control mode switching or restart.
x___ 0h
PB26 Select the gain switching condition.
CDP Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60].
Gain switching _ _ _ x Gain switching selection 0h
function 0: Disabled
1: Input device (gain switching (CDP))
2: Command frequency
3: Droop pulses
4: Servo motor speed
_ _ x _ Gain switching condition selection 0h
0: Gain after switching is enabled with gain switching condition or more
1: Gain after switching is enabled with gain switching condition or less
_ x _ _ For manufacturer setting 0h
x___ 0h
PB27 This is used to set the value of gain switching (command frequency, droop pulses, 10
CDL and servo motor speed) selected in [Pr. PB26]. [kpps]/
Gain switching The set value unit differs depending on the switching condition item. (Refer to [pulse]/
condition section 7.2.3) [r/min]

PB28 This is used to set the time constant at which the gains will change in response to 1
CDT the conditions set in [Pr. PB26] and [Pr. PB27]. [ms]
Gain switching
time constant Setting range: 0 to 100
PB29 This is used to set the load to motor inertia ratio when gain switching is enabled. 7.00
GD2B This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain Multipli
Load to motor adjustment mode selection" in [Pr. PA08]. er (×1)
inertia ratio after
gain switching Setting range: 0.00 to 300.00
PB30 Set the position loop gain when the gain switching is enabled. 0.0
PG2B When you set a value less than 1.0 rad/s, the value will be the same as [Pr. [rad/s]
Position loop PB08].
gain after gain This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain
switching adjustment mode selection" in [Pr. PA08].
5 - 22
5. PARAMETERS

Initial Control
Setting
digit
[unit] P S T
PB31 Set the speed loop gain when the gain switching is enabled. 0
VG2B When you set a value less than 20 rad/s, the value will be the same as [Pr. PB09]. [rad/s]
Speed loop gain This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain
after gain adjustment mode selection" in [Pr. PA08].
switching
PB32 Set the speed integral compensation when the gain changing is valid. 0.0
VICB When you set a value less than 0.1 ms, the value will be the same as [Pr. PB10]. [ms]
Speed integral This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain
compensation adjustment mode selection" in [Pr. PA08].
after gain
switching Setting range: 0.0 to 5000.0
PB33 Set the vibration frequency for vibration suppression control 1 when the gain 0.0
VRF1B switching is enabled. [Hz]
Vibration When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB19].
suppression This parameter will be enabled only when the following conditions are fulfilled.
control 1 - "Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
Vibration
"Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual
frequency after
gain switching setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP))
(_ _ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the
servo motor stops.

PB34 Set the resonance frequency for vibration suppression control 1 when the gain 0.0
Resonance
frequency after
gain switching setting (_ _ _ 2)".
(_ _ _ 1)".
servo motor stops.

PB35 Set a dumping
damping of the vibration frequency for vibration suppression control 1 when 0.00
VRF3B the gain switching is enabled.
Vibration This parameter will be enabled only when the following conditions are fulfilled.
suppression "Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
control 1 - "Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual
Vibration
setting (_ _ _ 2)".
frequency
damping after
dumping "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP))
gain switching (_ _ _ 1)".
servo motor stops.
5 - 23
5. PARAMETERS

Initial Control
Setting
digit
[unit] P S T
PB36 damping of the resonance frequency for vibration suppression control 1
Set a dumping 0.00
VRF4B when the gain switching is enabled.
control 1 - "Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual
Resonance
setting (_ _ _ 2)".
frequency
damping after
dumping "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP))
gain switching (_ _ _ 1)".
servo motor stops.

PB45 Set the command notch filter.
CNHF _ _ x x Command notch filter setting frequency selection 00h
Command Refer to table 5.6 for the relation of setting values to frequency.
notch filter _ x _ _ Notch depth selection 0h
Refer to table 5.7 for details.
Table 5.6 Command notch filter setting frequency
selection
Setting Frequency Setting Frequency Setting Frequency
[Hz] [Hz] [Hz]
00 Disabled 20 70 40 17.6
01 2250 21 66 41 16.5
02 1125 22 62 42 15.6
03 750 23 59 43 14.8
04 562 24 56 44 14.1
05 450 25 53 45 13.4
06 375 26 51 46 12.8
07 321 27 48 47 12.2
08 281 28 46 48 11.7
09 250 29 45 49 11.3
0A 225 2A 43 4A 10.8
0B 204 2B 41 4B 10.4
0C 187 2C 40 4C 10
0D 173 2D 38 4D 9.7
0E 160 2E 37 4E 9.4
0F 150 2F 36 4F 9.1
10 140 30 35.2 50 8.8
11 132 31 33.1 51 8.3
12 125 32 31.3 52 7.8
13 118 33 29.6 53 7.4
14 112 34 28.1 54 7.0
15 107 35 26.8 55 6.7
16 102 36 25.6 56 6.4
17 97 37 24.5 57 6.1
18 93 38 23.4 58 5.9
19 90 39 22.5 59 5.6
1A 86 3A 21.6 5A 5.4
1B 83 3B 20.8 5B 5.2
1C 80 3C 20.1 5C 5.0
1D 77 3D 19.4 5D 4.9
1E 75 3E 18.8 5E 4.7
1F 72 3F 18.2 5F 4.5
5 - 24
5. PARAMETERS

Initial Control
Setting
digit
[unit] P S T
PB45 Table 5.7 Notch depth selection
CNHF
Command Setting Depth [dB] Setting Depth [dB]
notch filter
0 -40.0 8 -6.0
1 -24.1 9 -5.0
2 -18.1 A -4.1
3 -14.5 B -3.3
4 -12.0 C -2.5
5 -10.1 D -1.8
6 -8.5 E -1.2
7 -7.2 F -0.6
resonance
suppression
filter 3 Setting range: 10 to 4500
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
0: Į = 2
1: Į = 3
2: Į = 4
3: Į = 5
resonance
filter 4
When you select "Enabled" of this digit, [Pr. PB17 Shaft resonance suppression
filter] is not available.
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
0: Į = 2
1: Į = 3
2: Į = 4
3: Į = 5
5 - 25
5. PARAMETERS

Initial Control
Setting
digit
[unit] P S T
resonance
filter 5
NHQ5 When you select "Enabled (_ _ _ 1)" of "Robust filter selection" in [Pr. PE41], the machine resonance suppression
Notch shape filter 5 is not available.
selection 5 _ _ _ x Machine resonance suppression filter 5 selection 0h
0: Disabled
1: Enabled
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
0: Į = 2
1: Į = 3
2: Į = 4
3: Į = 5
PB52 Set the vibration frequency for vibration suppression control 2 to suppress low- 100.0
suppression setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. Set
control 2 - manually for "Manual setting (_ _ 2 _)".
Vibration To enable the digit, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression
frequency mode selection" in [Pr. PA24].

PB53 Set the resonance frequency for vibration suppression control 2 to suppress low- 100.0
Resonance To enable the digit, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression

PB54 Set a dumping
damping of the vibration frequency for vibration suppression control 2 to 0.00
Vibration To enable the digit, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression
damping
dumping
PB55 damping of the resonance frequency for vibration suppression control 2 to
Set a dumping 0.00
Resonance To enable the digit, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression
damping
dumping
5 - 26
5. PARAMETERS
Initial Control
Setting
digit
[unit] P S T
PB56 Set the vibration frequency for vibration suppression control 2 when the gain 0.0
Vibration
"Vibration suppression mode selection" in [Pr. PA24] is "3 inertia mode (_ _ _ 1)".
frequency after
gain switching "Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual
setting (_ _ 2 _)".
"Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_
_ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.

PB57 Set the resonance frequency for vibration suppression control 2 when the gain 0.0
Resonance
"Vibration suppression mode selection" in [Pr. PA24] is "3 inertia mode (_ _ _ 1)".
frequency after
gain switching "Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual
setting (_ _ 2 _)".
"Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_
_ _ 1)".
motor stops.

PB58 Set a dumping
damping of the vibration frequency for vibration suppression control 2 when 0.00
VRF23B the gain switching is enabled.
control 2 - "Vibration suppression mode selection" in [Pr. PA24] is "3 inertia mode (_ _ _ 1)".
Vibration
frequency
dumping after
damping setting (_ _ 2 _)".
gain switching "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_
_ _ 1)".
motor stops.

PB59 damping of the resonance frequency for vibration suppression control 2
Set a dumping 0.00
VRF24B when the gain switching is enabled.
control 2 - "Vibration suppression mode selection" in [Pr. PA24] is "3 inertia mode (_ _ _ 1)".
Resonance
frequency
damping after
dumping setting (_ _ 2 _)".
gain switching "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_
_ _ 1)".
motor stops.
5 - 27
5. PARAMETERS
Initial Control
Setting
digit
[unit] P S T
PB60 Set the model loop gain when the gain switching is enabled. 0.0
PG1B When you set a value less than 1.0 rad/s, the value will be the same as [Pr. [rad/s]
Model loop gain PB07].
after gain This parameter will be enabled only when the following conditions are fulfilled.
switching "Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
(_ _ _ 1)".
servo motor stops.
5.2.3 Extension setting parameters ([Pr. PC_ _ ])

Initial Control
Setting
digit
[unit] P S T
PC01 This is used to set the acceleration time required to reach the rated speed from 0 0
STA r/min in response to VC (Analog speed command) and [Pr. PC05 Internal speed [ms]
Acceleration command 1] to [Pr. PC11 Internal speed command 7].
time constant If⸳ቯߒߚㅦᐲᜰ઎߇ቯᩰ࿁
the preset speed command is lower
Speed
࿁ォㅦᐲ than the rated speed, acceleration/
ォㅦᐲࠃࠅૐ޿႐ว㧘ടᷫ
Rated deceleration
ㅦᤨ㑆ߪ⍴ߊߥࠅ߹ߔ‫ޕ‬ time will be shorter.
ቯᩰ࿁ォ
speed
ㅦᐲ
0 r/min Time
ᤨ㑆
[Pr. PC01] setting
[Pr.PC01]ߩ⸳ቯ୯ [Pr. PC02] setting
[Pr.PC02]ߩ⸳ቯ୯
For example for the servo motor of 3000 r/min rated speed, set 3000 (3s) to
increase speed from 0 r/min to 1000 r/min in 1 second.

PC02 This is used to set the deceleration time required to reach the rated speed from 0 0
STB r/min in response to VC (Analog speed command) and [Pr. PC05 Internal speed [ms]
Deceleration command 1] to [Pr. PC11 Internal speed command 7].
time constant
5 - 28
5. PARAMETERS
Initial Control
Setting
digit
[unit] P S T
PC03 This is used to smooth start/stop of the servo motor. 0
STC Set the time of the arc part for S-pattern acceleration/deceleration. [ms]
S-pattern
acceleration/dec
eleration time Speed command
ㅦᐲᜰ઎
constant ࿁ࠨ
Servo motor
ォਘ
speed
ㅦࡏ
ᐲࡕ
ਘ
࠲
00r/min
r/min
Time
ᤨ㑆
STC STA STC STC STB STC
STA: Acceleration time constant ([Pr. PC01])

STB: Deceleration time constant ([Pr. PC02])
STC: S-pattern acceleration/deceleration time constant ([Pr. PC03])
Long setting of STA (acceleration time constant) or STB (deceleration time
constant) may produce an error in the time of the arc part for the setting of the S-
pattern acceleration/deceleration time constant.
The upper limit value of the actual arc part time is limited by
2000000 2000000
for acceleration or by for deceleration.
STA STB
(Example) At the setting of STA 20000, STB 5000 and STC 200, the actual arc
part times are as follows.
During acceleration: 100 ms

2000000
= 100 [ms] < 200 [ms]
20000
Therefore, it will be limited to 100 [ms].
During deceleration: 200 ms

2000000
= 400 [ms] > 200 [ms]
5000
Therefore, it will be 200 [ms] as you set.

PC04 This is used to set the constant of a primary delay to the torque command. 0
TQC Torque
࠻࡞ࠢᜰ઎ command [ms]
Torque
command time
Torque
࠻࡞ࠢ
constant
After
ࡈࠖ࡞࠲ᓟ filtering
TQC
63% TQC
63% Time
ᤨ㑆
TQC: Torque command time constant
5 - 29
5. PARAMETERS

Initial Control
Setting
digit
[unit] P S T
PC05 This is used to set speed 1 of internal speed commands. 100
SC1 [r/min]
Internal speed Setting range: 0 to permissible instantaneous speed
command This is used to set speed 1 of internal speed limits.
1/internal speed
limit 1 Setting range: 0 to permissible instantaneous speed
SC2 [r/min]
Internal speed
command Setting range: 0 to permissible instantaneous speed
2/internal speed
limit 2
This is used to set speed 2 of internal speed limits.
Setting range: 0 to permissible instantaneous speed

SC3 [r/min]
3/internal speed
SC4 [r/min]
4/internal speed
SC5 [r/min]
5/internal speed
SC6 [r/min]
6/internal speed
SC7 [r/min]
7/internal speed
PC12 This is used to set the speed at the maximum input voltage (10 V) of VC (Analog 0
VCM speed command). [r/min]
Analog speed When "0" is set, the analog speed command maximum speed would be the rated
command - speed of the servo motor connected.
Maximum The following shows the speed for motorless operation of test operation.
speed/Analog
speed limit - Setting range: 0 to 50000
Maximum This is used to set the speed at the maximum input voltage (10 V) of VLA (Analog
speed speed limit).
When "0" is set, the analog speed command maximum speed would be the rated
speed of the servo motor connected.
5 - 30
5. PARAMETERS
Initial Control
Setting
digit
[unit] P S T
PC13 This is used to set the output torque at the analog torque command voltage (TC = 100.0
TLC ±8 V) of +8 V on the assumption that the maximum torque is 100.0%. [㧑]
Analog torque For example, set 50.0 to output at the TC = +8 V.
command (maximum torque × 50/100)
maximum
output Setting range: 0.0 to 1000.0
PC14 __xx Analog monitor 1 output selection 00h
MOD1 Used to selection the signal provided to MO1 (Analog monitor 1) output. Refer to
Analog monitor app. 10 (3) for detection point of output selection.
1 output Refer to table 5.8 for settings.
x___ 0h
Table 5.8 Analog monitor setting value
Setting
Item
value
00 Servo motor speed (±8 V/max. speed)
01 Torque (±8 V/max. torque) (Note 2)
02 Servo motor speed (+8 V/max. speed)
03 Torque (+8 V/max. torque) (Note 2)
04 Current command (±8 V/max. current command)
05 The command pulse frequency (±10 V/4 Mpps)
06 Servo motor-side droop pulses (±10 V/100 pulses) (Note 1)
0A Feedback position (±10 V/1 Mpulses) (Note 1)
0B Feedback position (±10 V/10 Mpulses) (Note 1)
0C Feedback position (±10 V/100 Mpulses) (Note 1)
0D Bus voltage (+8 V/400 V)
0E Speed command 2 (±8 V/max. speed)
17 Encoder inside temperature (±10 V/±128 ÛC)
Note 1. Encoder pulse unit.

2. 8 V is outputted at the maximum torque.
However, when [Pr. PA11] and [Pr. PA12] are set to limit torque, 8 V
is outputted at the torque highly limited.
PC15 __xx Analog monitor 2 output selection 01h

MOD2 Used to selection the signal provided to MO2 (Analog monitor 2) output. Refer to
Analog monitor app. 10 (3) for detection point of output selection.
2 output Refer to [Pr. PC14] for settings.
x___ 0h
PC16 This is used to set the delay time between MBR (Electromagnetic brake interlock) 0
MBR and the base drive circuit is shut-off. [ms]
Electromagnetic
brake sequence Setting range: 0 to 1000
output
PC17 Used to set the output range of ZSP (Zero speed detection). 50 ż ż ż
ZSP ZSP (Zero speed detection) has hysteresis of 20 r/min. [r/min]
Zero speed
5 - 31
5. PARAMETERS
Initial Control
Setting
digit
[unit] P S T
PC18 ___x Alarm history clear selection 0h
BPS Used to clear the alarm history.
Alarm history 0: Disabled
clear 1: Enabled
When you select "Enabled", the alarm history will be cleared at next power-on.
After the alarm history is cleared, the setting is automatically disabled.
_x__ 0h
x___ 0h
PC19 ___x Encoder output pulse phase selection 0h
ENRS Select the encoder pulse direction.
Encoder output 0: Increasing A-phase 90° in CCW
pulse selection 1: Increasing A-phase 90° in CW
Setting Servoࠨ࡯ࡏࡕ࡯࠲࿁ォᣇะ
motor rotation direction
⸳ቯ୯
value CCW CW
A- A-
A⋧
phase A⋧
phase
0 B-
B⋧ B-
B⋧
phase phase
A- A-
A⋧
phase A⋧
phase
1 B- B-
B⋧
phase
B⋧
phase
__x_ Encoder output pulse setting selection 0h

0: Output pulse setting
1: Division ratio setting
2: The same output pulse setting as command pulse
3: A/B-phase pulse electronic gear setting
When you select "2", the settings of [Pr. PA15 Encoder output pulses] and [Pr.
PA16 Encoder output pulses 2] will be disabled.
x___ 0h
PC20 This is used to specify the station number of the servo amplifier. 0
SNO Always set one station to one axis of the servo amplifier. Setting one station [Station
Station number number to two or more stations will disable a normal communication. ]
setting
PC22 ___x For manufacturer setting 0h
COP1 __x_ 0h
Function _x__ 0h
selection C-1
x___ Encoder cable communication method selection 0h
Select the encoder cable communication method.
0: Two-wire type
1: Four-wire type
Incorrect setting will result in [AL. 16 Encoder initial communication error 1].
5 - 32
5. PARAMETERS
Initial Control
Setting
digit
[unit] P S T
PC23 ___x Servo-lock selection at speed control stop 0h
COP2 Select the servo-lock selection at speed control stop.
Function In the speed control mode, the servo motor shaft can be locked to prevent the
selection C-2 shaft from being moved by an outer force.
0: Enabled (servo-lock)
The operation to maintain the stop position is performed.
1: Disabled (no servo-lock)
The stop position is not maintained.
The control to make the speed 0 r/min is performed.
_x__ VC/VLA voltage averaging selection 0h
Select the VC/VLA voltage average.
This is used to set the filtering time when VC (Analog speed command) or VLA
(Analog speed limit) is imported.
Set 0 to vary the speed to voltage fluctuation in real time. Increase the set value
to vary the speed slower to voltage fluctuation.
Setting Filtering time [ms]

value
0 0
1 0.444
2 0.888
3 1.777
4 3.555
5 7.111
x___ Speed limit selection at torque control 0h

Select the speed limit selection at torque control.
0: Enabled
1: Disabled
Do not use this function except when configuring a external speed loop.
PC24 ___x In-position range unit selection 0h
COP3 Select a unit of in-position range.
Function 0: Command input pulse unit
selection C-3 1: Servo motor encoder pulse unit
_x__ 0h
x___ Error excessive alarm level unit selection 0h
Select a setting unit of the error excessive alarm level set in [Pr. PC43].
0: 1 rev unit
1: 0.1 rev unit
2: 0.01 rev unit
3: 0.001 rev unit
PC26 ___x [AL. 99 Stroke limit warning] selection 0h
COP5 Select [AL. 99 Stroke limit warning].
Function 0: Enabled
selection C-5 1: Disabled
_x__ 0h
x___ 0h
PC27 ___x Undervoltage alarm detection method selection 0h
COP6 When you use FR-RC, FR-CV, or FR-BU2, select "Method 2 (_ _ _ 1)".
Function 0: Method 1
selection C-6 1: Method 2
_x__ 0h
x___ 0h
5 - 33
5. PARAMETERS

Initial Control
Setting
digit
[unit] P S T
PC30 To enable the parameter, turn on STAB2 (Speed acceleration/deceleration 0
STA2 selection). [ms]
Acceleration This is used to set the acceleration time required to reach the rated speed from 0
time constant 2 r/min in response to VC (Analog speed command) and [Pr. PC05 Internal speed
command 1] to [Pr. PC11 Internal speed command 7].

PC31 To enable the parameter, turn on STAB2 (Speed acceleration/deceleration 0
STB2 selection). [ms]
Deceleration This is used to set the deceleration time required to reach the rated speed from 0
time constant 2 r/min in response to VC (Analog speed command) and [Pr. PC05 Internal speed
command 1] to [Pr. PC11 Internal speed command 7].

PC32 To enable the parameter, select "Electronic gear (0 _ _ _)" or "J3A electronic gear 1
CMX2 setting value compatibility mode (2 _ _ _)" of "Electronic gear selection" in [Pr.
Commanded PA21].
pulse
multiplication Setting range: 0 to 16777215
numerator 2
Commanded PA21].
pulse
numerator 3
Commanded PA21].
pulse
numerator 4
PC35 Set the parameter on the assumption that the maximum torque is 100 %. The 100.0
TL2 parameter is for limiting the torque of the servo motor. [%]
Internal torque Set this parameter to "0.0" to generate no torque.
limit 2 When you output torque with analog monitor output, the value will be the
maximum output voltage (+8 V). (Refer to section 3.6.1 (5).)
5 - 34
5. PARAMETERS
Initial Control
No./symbol/na Setting
Function value mode
me digit
[unit] P S T
PC36 __xx Status display selection at power-on 00h
DMD This is used to select a status display shown at power-on.
Status display 00: Cumulative feedback pulse
selection 01: Servo motor speed
02: Droop pulses
03: Cumulative command pulses
04: Command pulse frequency
05: Analog speed command voltage (Note 1)
06: Analog torque command voltage (Note 2)
07: Regenerative load ratio
08: Effective load ratio
09: Peak load ratio
0A: Instantaneous torque
0B: Within one-revolution position (1 pulse unit)
0C: Within one-revolution position (100 pulses unit)
0D: ABS counter
0E: Load to motor inertia ratio
0F: Bus voltage
10: Encoder inside temperature
11: Settling time
12: Oscillation detection frequency
13: Number of tough drive
drivesoperations
14: Unit power consumption
15: Unit power consumption (increment of 1 kW)
16: Unit total power consumption (increment of 1 kWh)
17: Unit total power consumption (increment of 100 kWh)
Note 1.It is for the speed control mode. It will be the analog speed limit voltage in
the torque control mode.
2.It is for the torque control mode. It will be the analog torque limit voltage in
the speed control mode and position control mode.
_x__ Status display at power-on in corresponding control mode 0h
0: Depends on the control mode
Control mode Status display at power-on

Position Cumulative feedback pulses
Position/speed Cumulative feedback pulses/servo motor speed
Speed Servo motor speed
Speed/torque Servo motor speed/analog torque command
voltage
Torque Analog torque command voltage
Torque/position Analog torque command voltage/cumulative
feedback pulses
1: Depends on the first digit setting of the parameter
5 - 35
5. PARAMETERS

Initial Control
Setting
digit
[unit] P S T
PC37 This is used to set the offset voltage of VC (Analog speed command). 0
VCO For example, if CCW rotation is provided by switching on ST1 (Forward rotation [mV]
Analog speed start) with applying 0 V to VC, set a negative value.
command When automatic VC offset is used, the automatically offset value is set to this
offset/Analog parameter. (Refer to section 4.5.4)
speed limit The initial value is provided before shipment by the automatic VC offset function
offset on condition that the voltage between VC and LG is 0 V.
Setting range: -9999 to 9999

This is used to set the offset voltage of VLA (Analog speed limit).
For example, if CCW rotation is provided by switching on RS1 (Forward rotation
selection) with applying 0 V to VLA, set a negative value.
When automatic VC offset is used, the automatically offset value is set to this
parameter. (Refer to section 4.5.4)
The initial value is provided before shipment by the automatic VC offset function
on condition that the voltage between VLA and LG is 0 V.

PC38 This is used to set the offset voltage of TC (Analog torque command). 0
TPO [mV]
Analog torque Setting range: -9999 to 9999
command This is used to set the offset voltage of TLA (Analog torque limit).
offset/Analog
torque limit
offset
PC39 This is used to set the offset voltage of MO1 (Analog monitor 1). 0
MO1 [mV]
Analog monitor
1 offset Setting range: -9999 to 9999
PC40 This is used to set the offset voltage of MO2 (Analog monitor 2). 0
MO2 [mV]
Analog monitor
2 offset Setting range: -9999 to 9999
PC43 Set an error excessive alarm level. 0
ERZ You can change the setting unit with "Error excessive alarm level" in [Pr. PC24]. [rev]
Error excessive However, setting "0" will be 3 rev.
alarm level
5 - 36
5. PARAMETERS

Initial Control
Setting
digit
[unit] P S T
PC51 This is used to set deceleration time constant when you use the forced stop 100
RSBR deceleration function. [ms]
Forced stop Set the time per ms from the rated speed to 0 r/min.
deceleration
time constant Dynamic brake
࠳ࠗ࠽ࡒ࠶ࠢ
Rated speed
ቯᩰ࿁ォㅦᐲ Forced ᒝ೙஗ᱛᷫㅦ
stop deceleration deceleration
ࡉ࡟࡯ࠠᷫㅦ
Servo motor speed

ࠨ࡯ࡏࡕ࡯࠲࿁ォㅦᐲ
00r/min
r/min
[Pr.PC51]
[Precautions]
If the servo motor torque is saturated at the maximum torque during forced stop
deceleration because the set time is too short, the time to stop will be longer
than the set time constant.
[AL. 50 Overload alarm 1] or [AL. 51 Overload alarm 2] may occur during
forced stop deceleration, depending on the set value.
After an alarm that leads to a forced stop deceleration, if an alarm that does not
lead to a forced stop deceleration occurs or if the control circuit power supply is
cut, dynamic braking will start regardless of the deceleration time constant
setting.

PC54 Set the compensation amount of the vertical axis freefall prevention function. 0
RSUP1 Set it per servo motor rotation amount. [0.0001
Vertical axis The function will pull up an shaft per rotation amount to the servo motor rotation rev]
freefall direction at the time of inputting forward rotation pulse for a positive number, and
prevention at the time of inputting reverse rotation pulse for a negative number.
compensation For example, if a positive compensation amount is set when the [Pr. PA14
amount Rotation direction selection] setting is "1", compensation will be performed to the
CW direction.
The vertical axis freefall prevention function is performed when all of the following
conditions are met.
1) Position control mode
2) The value of the parameter is other than "0".
3) The forced stop deceleration function is enabled.
4) Alarm occurs or EM2 turns off when the servo motor speed is zero speed or
less.
5) MBR (Electromagnetic brake interlock) was enabled in [Pr. PD23] to [Pr. PD28],
and the base circuit shut-off delay time was set in [Pr. PC16].

PC60 ___x Motor-less operation selection 0h
COPD This is used to select the motor-less operation.
Function 0: Disabled
selection C-D 1: Enabled
_x__ 0h
x___ 0h
5 - 37
5. PARAMETERS

5.2.4 I/O setting parameters ([Pr. PD_ _ ])
Initial Control
Setting
digit
[unit] P S T
PD01 Select input devices to turn on them automatically.
DIA1 _ _ _ x _ _ _ x (BIN): For manufacturer setting 0h
Input signal (HEX) _ _ x _ (BIN): For manufacturer setting
automatic on _ x _ _ (BIN): SON (Servo-on)
selection 1
0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
x _ _ _ (BIN): For manufacturer setting
__x_ _ _ _ x (BIN): PC (Proportional control) 0h
(HEX) 0: Disabled (Use for an external input signal.)
_ _ x _ (BIN): TL (External torque limit selection)
_ x _ _ (BIN): For manufacturer setting
x _ _ _ (BIN): For manufacturer setting
_x__ _ _ _ x (BIN): For manufacturer setting 0h
(HEX) _ _ x _ (BIN): For manufacturer setting
_ x _ _ (BIN): LSP (Forward rotation stroke end)
x _ _ _ (BIN): LSN (Reverse rotation stroke end)
5 - 38
5. PARAMETERS

Initial Control
Setting
digit
[unit] P S T
PD03 Any input device can be assigned to the CN1-15 pin.
DI1L _ _ x x Position control mode - Device selection 02h
Input device Refer to table 5.9 in [Pr. PD03] for settings.
selection 1L x x _ _ Speed control mode - Device selection 02h
Refer to table 5.9 in [Pr. PD03] for settings.
Table 5.9 Selectable input devices
Setting Input device (Note)
value P S T
㪇㪉㩷㪪㪦㪥㩷㪪㪦㪥㩷㪪㪦㪥㩷
㪇㪊㩷㪩㪜㪪㩷㪩㪜㪪㩷㪩㪜㪪㩷
㪇㪋㩷㪧㪚㩷㪧㪚㩷㩷
㪇㪌㩷㪫㪣㩷㪫㪣㩷㩷
㪇㪍㩷㪚㪩㩷㩷㩷
㪇㪎㩷㩷㪪㪫㪈㩷㪩㪪㪉㩷
㪇㪏㩷㩷㪪㪫㪉㩷㪩㪪㪈㩷
㪇㪐㩷㪫㪣㪈㩷㪫㪣㪈㩷㩷
㪇㪘㩷㪣㪪㪧㩷㪣㪪㪧㩷㩷
㪇㪙㩷㪣㪪㪥㩷㪣㪪㪥㩷㩷
㪇㪛㩷㪚㪛㪧㩷㪚㪛㪧㩷㩷
㪉㪇㩷㩷㪪㪧㪈㩷㪪㪧㪈㩷
㪉㪈㩷㩷㪪㪧㪉㩷㪪㪧㪉㩷
㪉㪉㩷㩷㪪㪧㪊㩷㪪㪧㪊㩷
㪉㪊㩷㪣㪦㪧㩷㪣㪦㪧㩷㪣㪦㪧㩷
㪉㪋㩷㪚㪤㪈㩷㩷㩷
㪉㪌㩷㪚㪤㪉㩷㩷㩷
㪉㪍㩷㩷㪪㪫㪘㪙㪉㩷㪪㪫㪘㪙㪉㩷
Note. P: position control mode, S: speed control mode, T: torque control mode
The diagonal lines indicate manufacturer settings. Never change the
setting.

DI1H _ _ x x Torque control mode - Device selection 02h
selection 1H _ x _ _ For manufacturer setting 0h
x___ 0h
x___ 0h
DI3L When "_ _ _ 1" is set in [Pr. PA03] and absolute position detection system by DIO is
Input device selected, CN1-17 pin will become ABSM (ABS transfer mode).
selection 3L _ _ x x Position control mode - Device selection 04h
x x _ _ Speed control mode - Device selection 07h
5 - 39
5. PARAMETERS
Initial Control
Setting
digit
[unit] P S T
x___ 0h
DI4L When "_ _ _ 1" is set in [Pr. PA03] and absolute position detection system by DIO is selected, CN1-18 pin will
Input device become ABSR (ABS transfer request).
selection 4L _ _ x x Position control mode - Device selection 05h
x x _ _ Speed control mode - Device selection 08h
x___ 0h
x___ 0h
x___ 0h
DI8L _ _ x x Position control mode - Device selection 0Ah
selection 8L x x _ _ Speed control mode - Device selection 0Ah
x___ 0h
DI9L _ _ x x Position control mode - Device selection 0Bh
selection 9L x x _ _ Speed control mode - Device selection 0Bh
5 - 40
5. PARAMETERS
Initial Control
Setting
digit
[unit] P S T
x___ 0h
x___ 0h
PD23 _ _ x x Device selection 04h
DO1 Any output device can be assigned to the CN1-22 pin.
Output device When "Enabled (absolute position detection system by DIO) (_ _ _ 1)" is selected
selection 1 in [Pr. PA03], CN1-22 pin will become ABSB0 (ABS send data bit 0) only during
ABS transfer mode.
x___ 0h
Table 5.10 Selectable output devices
Setting Output device (Note)
value P S T
00 Always off Always off Always off
02 RD RD RD
03 ALM ALM ALM
04 INP SA Always off
05 MBR MBR MBR
07 TLC TLC VLC
08 WNG WNG WNG
09 BWNG BWNG BWNG
0A Always off SA Always off
0B Always off Always off VLC
0C ZSP ZSP ZSP
0D MTTR MTTR MTTR
0F CDPS Always off Always off
11 ABSV Always off Always off
㩷㩷㩷㩷
Note. P: position control mode, S: speed control mode, T: torque control mode
PD24 __xx Device selection 0Ch

selection 2 in [Pr. PA03], CN1-23 pin will become ABSB1 (ABS send data bit 1) only during
ABS transfer mode.
x___ 0h
5 - 41
5. PARAMETERS
Initial Control
Setting
digit
[unit] P S T
PD25 __xx Device selection 04h
Output device Refer to table 5.10 in [Pr. PD23] for settings.
selection 3 _x__ For manufacturer setting 0h
x___ 0h
selection 4 in [Pr. PA03], CN1-25 pin will become ABST (ABS send data ready) only during
ABS transfer mode.
x___ 0h
Output device Refer to table 5.10 in [Pr. PD23] for settings.
selection 6 _x__ For manufacturer setting 0h
x___ 0h
PD29 Select a filter for the input signal.
DIF _ _ _ x Input signal filter selection 4h
Input filter If external input signal causes chattering due to noise, etc., input filter is used to
setting suppress it.
0: None
1: 0.888 [ms]
2: 1.777 [ms]
3: 2.666 [ms]
4: 3.555 [ms]
_ _ x _ RES (Reset) dedicated filter selection 0h
0: Disabled
1: Enabled (50 [ms])
_ x _ _ CR (Clear) dedicated filter selection 0h
0: Disabled
1: Enabled (50 [ms])
PD30 _ _ _ x Stop method selection for LSP (Forward rotation stroke end) off and LSN 0h
DOP1 (Reverse rotation stroke end) off
Function Select a stop method for LSP (Forward rotation stroke end) off and LSN (Reverse
selection D-1 rotation stroke end) off
0: Quick stop
1: Slow stop
_ _ x _ Base circuit status selection for RES (Reset) on 0h
0: Base circuit shut-off
1: No base circuit shut-off
x___ 0h
PD32 _ _ _ x CR (Clear) selection 0h
DOP3 This is used to set CR (Clear).
Function 0: Deleting droop pulses by turning on the device
selection D-3 1: Continuous deleting of droop pulses during the device on
_ _ x _ For manufacturer setting 0h
_x__ 0h
x___ 0h
5 - 42
5. PARAMETERS
Initial Control
Setting
digit
[unit] P S T
PD34 ___x Alarm code output 0h
DOP5 This is used to select if output alarm codes.
Function Alarm codes are outputted to pins CN1-22, CN1-23, and CN1-24.
selection D-5 0: Disabled
1: Enabled
Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)"
for details of alarm codes.
When "Enabled (absolute position detection system by DIO) (_ _ _ 1)" is selected
in [Pr. PA03] and when MBR (Electromagnetic brake interlock) or ALM
(Malfunction) is assigned to CN1-22 pin, CN1-23 pin, or CN1-24 pin, selecting
alarm code output will generate [AL. Parameter error].
__x_ Selection of output device at warning occurrence 0h
Select ALM (Malfunction) output status at warning occurrence.
Setting
⸳ቯ୯ value Device status
࠺ࡃࠗࠬߩ⁁ᘒ
ON
WNG
OFF
0 ON
ALM
OFF
Warning
⼊๔⊒↢ occurrence
ON
WNG
OFF
1 ON
ALM
OFF
Warning⼊๔⊒↢
occurrence (Note 2)

x___ 0h

5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])
Initial Control
Setting
digit
[unit] P S T
PE41 ___x Robust filter selection 0h
EOP3 0: Disabled
Function 1: Enabled
selection E-3 When you select "Enabled" of this digit, the machine resonance suppression filter
5 set in [Pr. PB51] is not available.
_x__ 0h
x___ 0h
5 - 43
5. PARAMETERS
5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])

Initial Control
Setting
digit
[unit] P S T
PF21 This is used to set a drive recorder switching time. 0
DRT When a USB communication is cut during using a graph function, the function will [s]
Drive recorder be changed to the drive recorder function after the setting time of this parameter.
switching time When a value from "1" to "32767" is set, it will switch after the setting value.
setting However, when "0" is set, it will switch after 600 seconds.
When "-1" is set, the drive recorder function is disabled.

PF23 This is used to set a filter readjustment sensitivity of [Pr. PB13 Machine 50
OSCL1 resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression [%]
Vibration tough filter 2] while the vibration tough drive is enabled.
drive - Example: When you set "50" to the parameter, the filter will be readjusted at the
Oscillation time of 50% or more oscillation level.
detection level
PF24 ___x Oscillation detection alarm selection 0h
OSCL2 Select alarm or warning when a oscillation continues at a filter readjustment
Vibration tough sensitivity level of [Pr. PF23].
drive function The digit is continuously enabled regardless of the vibration tough drive in [Pr.
selection PA20].
0: [AL. 54 Oscillation detection] will occur at oscillation detection.
1: [AL. F3.1 Oscillation detection warning] will occur at oscillation detection.
2: Oscillation detection function disabled
_x__ 0h
x___ 0h
PF25 Set the time of the [AL. 10.1 Voltage drop in the control power] occurrence. 200
CVAT To disable the parameter, select "Disabled (_ 0 _ _)" of "Instantaneous power [ms]
Instantaneous failure tough drive selection" in [Pr. PA20].
power failure
tough drive - Setting range: 30 to 200
Detection time
PF31 Set a motor speed to divide a friction estimation area into high and low for the 0
FRIC friction estimation process of the machine diagnosis. [r/min]
Machine However, setting "0" will be the value half of the rated speed.
diagnosis When your operation pattern is under rated speed, we recommend that you set
function - half value to the maximum speed with this.
Friction
judgement Maximum
ㆇォᤨᦨᄢㅦᐲ speed in operation
speed Forward
rotation
ᱜォᣇะ
direction [Pr. PF31] setting
[Pr.PF31]⸳ቯ୯
Servo
speed
࿁ォㅦᐲ 0 0r/min
r/min
Operation
ㆇォࡄ࠲࡯ࡦ pattern
Reverse
ㅒォᣇะ
rotation
direction
Setting range: 0 to permissible speed

5 - 44
6. NORMAL GAIN ADJUSTMENT
POINT
In the torque control mode, you do not need to make gain adjustment.
Before making gain adjustment, check that your machine is not being operated
at maximum torque of the servo motor. If operated over maximum torque, the
machine may vibrate and may operate unexpectedly. In addition, make gain
adjustment with a safety margin considering characteristic differences of each
machine. It is recommended that generated torque during operation is under
90% of the maximum torque of the servo motor.
6.1 Different adjustment methods
6.1.1 Adjustment on a single servo amplifier
The following table shows the gain adjustment modes that can be set on a single servo amplifier. For gain
adjustment, first execute "Auto tuning mode 1". If you are not satisfied with the result of the adjustment,
execute "Auto tuning mode 2" and "Manual mode" in this order.
(1) Gain adjustment mode explanation

Estimation of load to motor Automatically set Manually set
Gain adjustment mode [Pr. PA08] setting
inertia ratio parameters parameters
Auto tuning mode 1 0001 Always estimated GD2 ([Pr. PB06]) RSP ([Pr. PA09])
(initial value) PG1 ([Pr. PB07])
PG2 ([Pr. PB08])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
Auto tuning mode 2 0002 Fixed to [Pr. PB06] value PG1 ([Pr. PB07]) GD2 ([Pr. PB06])
PG2 ([Pr. PB08]) RSP ([Pr. PA09])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
Manual mode 0003 GD2 ([Pr. PB06])
PG1 ([Pr. PB07])
PG2 ([Pr. PB08])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
2 gain mode 1 (interpolation 0000 Always estimated GD2 ([Pr. PB06]) PG1 ([Pr. PB07])
mode) PG2 ([Pr. PB08]) RSP ([Pr. PA09])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
2 gain adjustment mode 2 0004 Fixed to [Pr. PB06] value PG2 ([Pr. PB08]) GD2 ([Pr. PB06])
VG2 ([Pr. PB09]) PG1 ([Pr. PB07])
VIC ([Pr. PB10]) RSP ([Pr. PA09])
6- 1
(2) Adjustment sequence and mode usage
Start
㐿ᆎ
2ゲએ਄ߢ
Interpolation made for Yes 2 gain adjustment mode 1
2ࠥࠗࡦ⺞ᢛࡕ࡯࠼1
2 or ⵬㑆ߔࠆ?
more axes? (interpolation
(⵬㑆ࡕ࡯࠼) mode)
No
Theㆇォਛߩ⽶⩄
load fluctuation is Yes
large during driving?
ᄌേ߇ᄢ߈޿?
No
One-touch
ࡢࡦ࠲࠶࠴⺞ᢛ tuning Handle
ಣ⟎ታᣉ the error.
Yes
No Error handling is No
Finished
ᱜᏱ⚳ੌ?normally? ࠛ࡜࡯ಣ⟎น⢻? Auto tuning mode 1
ࠝ࡯࠻࠴ࡘ࡯࠾ࡦࠣࡕ࡯࠼1
possible?
Yes
Yes
Adjustment
⺞ᢛOK?OK?
No
Auto tuning mode 2

ࠝ࡯࠻࠴ࡘ࡯࠾ࡦࠣࡕ࡯࠼2
Yes
Adjustment
⺞ᢛOK?OK?
No No
Adjustment
⺞ᢛOK?OK?
2 gain adjustment mode 2

2 ࠥࠗࡦ⺞ᢛࡕ࡯࠼2
Yes
Yes
Adjustment
⺞ᢛOK?OK?
No
Manual mode
ࡑ࠾ࡘࠕ࡞ࡕ࡯࠼
End
⚳ੌ
6.1.2 Adjustment using MR Configurator2
This section explains the functions and adjustment using the servo amplifier with MR Configurator2.
Function Description Adjustment
Machine analyzer With the machine and servo motor coupled, You can grasp the machine resonance
the characteristic of the mechanical system frequency and determine the notch
can be measured by giving a random frequency of the machine resonance
vibration command from a personal suppression filter.
computer to the servo and measuring the
machine response.
6- 2
6.2 One-touch tuning
You can execute the one-touch tuning with MR Configurator2 or push buttons. The following parameters are
set automatically with one-touch tuning.
Table 6.1 List of parameters automatically set with one-touch tuning

Parameter Symbol Name Parameter Symbol Name
PA08 ATU Auto tuning mode PB16 NHQ2 Notch shape selection 2
PA09 RSP Auto tuning response PB18 LPF Low-pass filter setting
Adaptive tuning mode (adaptive filter Vibration suppression control 1 -
PB01 FILT PB19 VRF11
II) Vibration frequency
Vibration suppression control tuning
Vibration suppression control 1 -
PB02 VRFT mode (advanced vibration suppression PB20 VRF12
Resonance frequency
control II)
Position command Vibration suppression control 1 -
PB03 PST acceleration/deceleration time PB21 VRF13 Vibration frequency dumping
constant (position smoothing) setting
PB06 GD2 Load to motor inertia ratio Vibration suppression control 1 -

PB22 VRF14 Resonance frequency
PB07 PG1 Model loop gain dumping setting
PB08 PG2 Position loop gain PB23 VFBF Low-pass filter selection
PB09 VG2 Speed loop gain PB47 NHQ3 Notch shape selection 3
Machine resonance suppression filter
PB10 VIC Speed integral compensation PB48 NH4
4
PB12 OVA Overshoot amount compensation PB49 NHQ4 Notch shape selection 4
PB13 NH1 PB51 NHQ5 Notch shape selection 5
1
PB14 NHQ1 Notch shape selection 1 PE41 EOP3 Function selection E-3
PB15 NH2
2
6.2.1 One-touch tuning flowchart
(1) When you use MR Configurator2

Make one-touch tuning as follows.
Start
㐿ᆎ
Startup a system referring to chapter 4.

Startup of the system
ࠪࠬ࠹ࡓߩ┙਄ߍ
Rotate the servo motor by an external controller, etc. (The one-touch tuning cannot be performed if the
Operation
ㆇォ servo motor is not operating.)
Start one-touch tuning of MR Configurator2.

One-touch
ࡢࡦ࠲࠶࠴⺞ᢛ⿠േtuning start
Select a response mode (high mode, basic mode, and low mode) in the one-touch tuning window of
Response mode selection
ᔕ╵ࡕ࡯࠼ㆬᛯ MR Configurator2.
Push the start button to start one-touch tuning. Push it during motor driving.
One-touch tuning execution
ࡢࡦ࠲࠶࠴⺞ᢛታᣉ When one-touch tuning is completed normally, the parameters described in table 6.1 will be set
automatically.
End
⚳ੌ
6- 3
(2) When you use push buttons

Make one-touch tuning as follows.
Start
㐿ᆎ
Startup a system referring to chapter 4.

Startup of the system
ࠪࠬ࠹ࡓߩ┙਄ߍ
Rotate the servo motor by an external controller, etc. (The one-touch tuning cannot be performed if the
Operation
ㆇォ servo motor is not operating.)
One-touch tuning start

ࡢࡦ࠲࠶࠴⺞ᢛࡕ࡯࠼߳ߩ Push the "MODE" button during motor driving to switch to the initial screen ("AUTO") of the one-touch
⒖ⴕ tuning. Push the "SET" button for 2 s or more during displaying "AUTO" to switch to the response
mode selection ("AUTO.").
Response mode selection

ᔕ╵ࡕ࡯࠼ㆬᛯ Select a response mode from "AUTO.H" (high mode), "AUTO." (basic mode), or "AUTO.L" (low mode).
Push the "SET" button to start one-touch tuning. Push it during motor driving.
One-touch tuning execution
ࡢࡦ࠲࠶࠴⺞ᢛታᣉ When one-touch tuning is completed normally, the parameters described in table 6.1 will be set
automatically.
End
⚳ੌ
6- 4
6.2.2 Display transition and operation procedure of one-touch tuning
(1) When you use MR Configurator2

(a) Response mode selection
Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2.
Response mode Explanation

High mode This mode is for high rigid system.
Basic mode This mode is for normal system.
Low mode This mode is for low rigid system.
Refer to the following table for selecting a response mode.
6- 5
Response
Machine characteristic
mode Response
Low mode Basic mode High mode Guideline of corresponding machine
Low response
Arm robot
ࠕ࡯ࡓࡠࡏ࠶࠻
General machine
৻⥸Ꮏ૞ᯏ᪾៝ㅍᯏ
tool conveyor
Precision
㜞♖ᐲᎿ૞ᯏ
working
machine
Inserter
ࠗࡦࠨ࡯࠲
Mounter
ࡑ࠙ࡦ࠲
ࡏࡦ࠳
Bonder
High
response
6- 6
(b) One-touch tuning execution

After the response mode is selected in (a), pushing the start button during driving will start one-touch
tuning. If the start button is pushed while the motor stops, "C 0 0 2" or "C 0 0 4" will be displayed at
status in error code. (Refer to table
(1)(d)6.2
in this section
of (1)(d) in table
of this 6.2 for error codes.)
section
During processing of one-touch tuning, the status will be displayed in the progress window as
follows. One-touch tuning will be finished at 100%.
Completing the one-touch tuning starts writing tuning parameters to the servo amplifier. "0 0 0 0" is
displayed at status in error code. In addition, settling time and overshoot amount will be displayed in
"Adjustment result" after adjustment.
6- 7
(c) One-touch tuning execution

During one-touch tuning, pushing the stop button stops one-touch tuning.
If the one-touch tuning is stopped, "C 0 0 0" will be displayed at status in error code.
(d) If an error occur

If a tuning error occurs during tuning, one-touch tuning will be forcibly terminated. With that, the
following error code will be displayed in status. Check the cause of adjustment error.
Table 6.2 List of error code with one-touch tuning

Error code Name Description Action
C000 Tuning canceled The stop button or "SET" of the push button
was pushed.
C001 Overshoot exceeded The overshoot amount is lager than the value Increase the in-position range.
set in [Pr. PA10 In-position range].
C002 Servo-off during tuning The one-touch tuning was attempted during Perform the one-touch tuning after servo-on.
servo-off.
C003 Control mode error The one-touch tuning was attempted while the Select the position control mode or speed
torque control mode was selected in the control mode for the control mode from the
control modes. controller, and then make one-touch tuning.
C004 Time-out 1. 1 cycle time during the operation has been Set the 1 cycle time during the operation to 30
over 30 s. s or less.
2. The command speed is low. Set the servo motor speed to100 r/min or
higher.
3. The operation interval of the continuous Maintain the operation interval during motor
operation is short. driving about 200 ms.
C005 Load to motor inertia ratio 1. The estimation of the load to motor inertia Drive the motor with meeting conditions as
misestimated ratio at one-touch tuning was a failure. follows.
Time to reach 2000 r/min is the
acceleration/deceleration time constant of 5 s
or less.
Speed is 150 r/min or higher.
The load to motor inertia ratio is 100 times
or less.
The acceleration/deceleration torque is
10% or more of the rated torque.
2. The load to motor inertia ratio was not Set to the auto tuning mode that does not
estimated due to such as an oscillation. estimate the load to motor inertia ratio as
follows, and then execute the one-touch
tuning.
Select "Auto tuning mode 2 (_ _ _ 2)",
"Manual mode (_ _ _ 3)", or "2 gain
adjustment mode 2 (_ _ _ 4)" of "Gain
adjustment mode selection" in [Pr. PA08].
Set [Pr. PB06 Load to motor inertia ratio]
properly with manual setting.
C00F One-touch tuning "One-touch tuning function selection" in [Pr. Select "Enabled (_ _ _ 1)".
disabled PA21] is "Disabled (_ _ _ 0)"
(e) If an alarm occur

If an alarm occurs during tuning, one-touch tuning will be forcibly terminated.
(f) If a warning occur

If a warning which continue the motor driving occurs during the tuning, one-touch tuning will be
continued.
If a warning which does not continue the motor driving occurs during the tuning, one-touch tuning will
be stopped.
6- 8
(g) Clearing one-touch tuning

You can clear the parameter values set with one-touch tuning.
Refer to table 6.1 for the parameters which you can clear.
Pushing "Return to before tuning" in the one-touch tuning window of MR Configurator2 enables to
rewrite the parameter to the value before pushing the start button.
In addition, pushing "Return to initial value" in the one-touch tuning window enables to rewrite the
parameter to the initial value.
Clearing one-touch tuning is completed, the following window will be displayed. (returning to initial
value)
6- 9
(2) When you use push buttons

(a) Response mode selection
Select a response mode of the one-touch tuning from 3 modes with "UP" or "DOWN".
Response mode selection display
ᔕ╵ࡕ࡯࠼ㆬᛯ⴫␜
Low mode
Lowࡕ࡯࠼ : This mode is for low rigid system.
ᯏ᪾೰ᕈ߇ૐ޿ⵝ⟎ะߌߩᔕ╵ࡕ࡯࠼ߢߔ‫ޕ‬
Basic mode
ࡌ࡯ࠪ࠶ࠢࡕ࡯࠼ This mode is for normal system.
:ᮡḰ⊛ߥᯏ᪾ะߌߩᔕ╵ࡕ࡯࠼ߢߔ‫ޕ‬
UP DOWN
High mode
Highࡕ࡯࠼ : This mode is for high rigid system.
ᯏ᪾೰ᕈ߇㜞޿ⵝ⟎ะߌߩᔕ╵ࡕ࡯࠼ߢߔ‫ޕ‬
(b) One-touch tuning execution

After the response mode is selected in (a), pushing the "SET" button during driving will start one-
touch tuning.
One-touchࡢࡦ࠲࠶࠴⺞ᢛਛ
tuning in progress
The one-touch tuning progress is displayed with 0% to 100%.

ࡢࡦ࠲࠶࠴⺞ᢛߩㅴ᝞⁁ᴫࠍ0%㨪100%ߢ⴫␜ߒ߹ߔ‫ޕ‬
The decimal point moves left to right in rotation during the tuning.
ࡢࡦ࠲࠶࠴⺞ᢛਛߪዊᢙὐ߇ฝ߆ࠄᏀ߳⒖േߒߡὐἮߒ߹ߔ‫ޕ‬
ࡢࡦ࠲࠶࠴⺞ᢛਛߦ"MODE"ࡏ࠲ࡦࠍ᛼ߔߣ㧘⁁ᘒ⴫␜ߦㆫ⒖ߢ߈߹ߔ‫ޕ‬
To switch the display to the status display during the tuning, push the "MODE"
button.
Complete
ቢੌ⴫␜
Completing the one-touch tuning will start writing the auto-tuned parameters to
ࡢࡦ࠲࠶࠴⺞ᢛ߇ቢੌߔࠆߣ㧘ࡢࡦ࠲࠶࠴⺞ᢛߢ⥄േ⺞ᢛߐࠇߚࡄ࡜ࡔ࡯࠲ࠍ
ࠨ࡯ࡏࠕࡦࡊߦᦠ߈ㄟߺ߹ߔ‫ޕ‬
6 - 10
(c) One-touch tuning execution

Stop symbol
ਛᱛࠪࡦࡏ࡞⴫␜
The one-touch tuning mode can be stopped by pushing the "SET" button regardless of displayed
ࡢࡦ࠲࠶࠴⺞ᢛࡕ࡯࠼ߦ⒖ⴕߒߚ⁁ᘒߢ㧘ߤߩ㗄⋡ࠍ⴫␜ߒߡ޿ߡ߽"SET"ࡏ࠲ࡦࠍ᛼ߔߣࡢࡦ
item.
࠲࠶࠴⺞ᢛࡕ࡯࠼ࠍਛᱛߔࠆߎߣ߇ߢ߈߹ߔ‫ޕ‬
22s㑆㓒
s interval The stop symbol and error code "C 000"
ਛᱛࠪࡦࡏ࡞⴫␜ߣࠛ࡜࡯ࠦ࡯࠼"C (cancel during tuning) will be displayed by turns with 2
000"(⺞ᢛਛࠠࡖࡦ࠮࡞)ࠍ2s㑆㓒ߢ੤੕ߦ⴫␜ߒ߹ߔ‫ޕ‬
s interval.
Error code
ࠛ࡜࡯ࠦ࡯࠼
Pushing the "SET" button will switch to the initial screen.

"SET"ࡏ࠲ࡦࠍ᛼ߔߣ㧘ೋᦼ↹㕙ߦㆫ⒖ߒ߹ߔ‫ޕ‬
Initial
ೋᦼ↹㕙 screen
(d) If an error occur

Stop symbol
ਛᱛࠪࡦࡏ࡞⴫␜
Ifࡢࡦ࠲࠶࠴⺞ᢛਛߦࠛ࡜࡯߇⊒↢ߒߚ႐ว㧘ࡢࡦ࠲࠶࠴⺞ᢛࠍ⚳ੌߒ㧘ਛᱛࠪࡦࡏ࡞ߣ"C
an error occurs during the one-touch tuning, the tuning will be forcibly terminated and the stop
001"㨪
"C 00F"߹ߢߩࠛ࡜࡯ࠦ࡯࠼ࠍ2s㑆㓒ߢ੤੕ߦ⴫␜ߒ߹ߔ‫ޕ‬
symbol and error code from "C 001" to "C 00F" will be displayed by turns with 2 s interval.
22s㑆㓒
s interval
Error
ࠛ࡜࡯ࠦ࡯࠼code
Check the error cause referring table 6.2 of (1)(d) of this section.
ᧄ㗄(1)(d)ߩ⴫6.2ࠍෳᾖߒߡ㧘ࠛ࡜࡯ߩේ࿃ࠍ⏕⹺ߒߡߊߛߐ޿‫ޕ‬
Pushing the "SET" button will switch to the initial screen.

"SET"ࡏ࠲ࡦࠍ᛼ߔߣ㧘ೋᦼ↹㕙ߦㆫ⒖ߒ߹ߔ‫ޕ‬
Initial
ೋᦼ↹㕙 screen
(e) If an alarm occur

One-touch tuning in progress
ࡢࡦ࠲࠶࠴⺞ᢛਛ
Ifࡢࡦ࠲࠶࠴⺞ᢛਛߦࠕ࡜࡯ࡓ߇⊒↢ߒߚ႐ว㧘ࡢࡦ࠲࠶࠴⺞ᢛࠍਛᱛߒ㧘ࠕ࡜࡯ࡓ⴫␜ߦㆫ⒖ߒ
an alarm occurs during tuning, one-touch tuning will be forcibly terminated and the alarm No.
will
߹ߔ‫ޕ‬ be displayed.
Alarm
ࠕ࡜࡯ࡓ⴫␜display
6 - 11
(f) If a warning occur

One-touch tuning in progress
ࡢࡦ࠲࠶࠴⺞ᢛਛ
Ifࡢࡦ࠲࠶࠴⺞ᢛਛߦ⼊๔߇⊒↢ߒߚ႐ว㧘ࠕ࡜࡯ࡓ⴫␜ߦㆫ⒖ߒ㧘⼊๔ࠍ⴫␜ߒ߹ߔ‫ޕ‬
a warning occurs during tuning, the alarm No. of the warning will be displayed.
When the warning is one which continue the motor driving, the one-touch tuning will be
ߎߩߣ߈ㆇォ߇⛮⛯ߢ߈ࠆ⼊๔ߩ႐วߪࡢࡦ࠲࠶࠴⺞ᢛࠍ⛮⛯ߒߡታᣉߒ߹ߔ‫ޕ‬
continued.
Alarm display (warning)

ࠕ࡜࡯ࡓ⴫␜
⼊๔
(g) Clearing one-touch tuning

Refer to table 6.1 for the parameters which you can clear.
You can initialize the parameters changed by the one-touch tuning with the clear mode. You can
reset the parameters to before tuning with the back mode.
1) Push the "MODE" button to switch to the initial screen ("AUTO") of the one-touch tuning.
2) Select the clear mode or back mode with the "UP" or "DOWN" button.
One-touch tuning clear mode selection
ࡢࡦ࠲࠶࠴⺞ᢛࠢ࡝ࠕࡕ࡯࠼ㆬᛯ
Auto mode
ࠝ࡯࠻ࡕ࡯࠼
Clear
ࠢ࡝ࠕࡕ࡯࠼mode
UP DOWN
Back mode
ࡃ࠶ࠢࡕ࡯࠼
To clear the one-touch tuning, push the "SET" button for 2 s.

"SET"ࡏ࠲ࡦࠍ2sએ਄᛼ߔߣ㧘ࡢࡦ࠲࠶࠴⺞ᢛߩࠢ࡝ࠕࠍታᣉߒ߹ߔ‫ޕ‬
One-touch tuning clear mode display (initializing)
ࡢࡦ࠲࠶࠴⺞ᢛࠢ࡝ࠕࡕ࡯࠼⴫␜(ೋᦼ୯ߦᚯߔ႐ว)
The one-touch tuning clear mode is in progress.

ㆬᛯߒߚࡢࡦ࠲࠶࠴⺞ᢛࠢ࡝ࠕࡕ࡯࠼ࠍታᣉߒ߹ߔ‫ޕ‬ታᣉਛ㧘ࡢࡦ࠲࠶࠴⺞ᢛࠢ࡝ࠕࡕ࡯࠼
The clear mode symbol flickers for 3 s.
ߩࠪࡦࡏ࡞߇3sὐṌߒ߹ߔ‫ޕ‬
Clearing one-touch tuning is completed, the initial screen will be displayed.

ࡢࡦ࠲࠶࠴⺞ᢛࠢ࡝ࠕ߇ቢੌߔࠆߣ㧘ೋᦼ↹㕙ߦㆫ⒖ߒ߹ߔ‫ޕ‬
Initial screen
ೋᦼ↹㕙
6 - 12
6.2.3 Caution for one-touch tuning
(1) The tuning is not available in the torque control mode.
(2) The one-touch tuning cannot be executed while an alarm or warning which does not continue the motor
driving is occurring.
(3) You can execute the one-touch tuning during the following test operation modes marked by "ż".
Test operation mode
How to one-touch tuning Output signal (DO) forced Positioning Motor-less Program
JOG operation
output operation operation operation
MR Configurator2
Push buttons
6 - 13
6.3 Auto tuning
6.3.1 Auto tuning mode
The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load to
motor inertia ratio) in real time and automatically sets the optimum gains according to that value. This
function permits ease of gain adjustment of the servo amplifier.
(1) Auto tuning mode 1

The servo amplifier is factory-set to the auto tuning mode 1.
In this mode, the load to motor inertia ratio of a machine is always estimated to set the optimum gains
automatically.
The following parameters are automatically adjusted in the auto tuning mode 1.
Parameter Symbol Name
PB06 GD2 Load to motor inertia ratio
PB07 PG1 Model loop gain
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation
POINT
The auto tuning mode 1 may not be performed properly if all of the following
conditions are not satisfied.
Time to reach 2000 r/min is the acceleration/deceleration time constant of 5 s
or less.
Speed is 150 r/min or higher.
The load to motor inertia ratio is 100 times or less.
The acceleration/deceleration torque is 10% or more of the rated torque.
Under operating conditions which will impose sudden disturbance torque during
acceleration/deceleration or on a machine which is extremely loose, auto tuning
may not function properly, either. In such cases, use the auto tuning mode 2 or
manual mode to make gain adjustment.
(2) Auto tuning mode 2

Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1. Since
the load to motor inertia ratio is not estimated in this mode, set the value of a correct load to motor
inertia ratio in [Pr. PB06].
The following parameters are automatically adjusted in the auto tuning mode 2.
6 - 14
6.3.2 Auto tuning mode basis
The block diagram of real-time auto tuning is shown below.
Load
⽶⩄ᘠᕈ moment
Automatic
⥄േ⸳ቯ setting ࡕ࡯ࡔࡦ࠻
of inertia
Encoder
ࠛࡦࠦ࡯࠳
Command Loop
೙ᓮࠥࠗࡦgain
ᜰ઎ Current
PG1㧘PG2㧘㔚ᵹ೙ᓮ M
VG2㧘VIC control
Current feedback
㔚ᵹࡈࠖ࡯࠼ࡃ࠶ࠢ Servo
or 1 to turn on. Real-time

Set 00߹ߚߪ1ߢࠝࡦ ࡝ࠕ࡞࠲ࠗࡓ auto tuning Position/speed
૏⟎࡮ㅦᐲ
section
ࠝ࡯࠻࠴ࡘ࡯࠾ࡦࠣㇱ ࡈࠖ࡯࠼ࡃ࠶ࠢ
feedback
Load to motor
⽶⩄ᘠᕈ
Gain
ࠥࠗࡦ table
inertia
ࡕ࡯ࡔࡦ࠻Ყratio
࠹࡯ࡉ࡞ ផቯㇱ
estimation
Switch
ࠬࠗ࠶࠴ Speed feedback
ㅦᐲࡈࠖ࡯࠼ࡃ࠶ࠢ
[Pr.[Pr.PB06
PB06 Load ⽶⩄to motor
[Pr.PA08] [Pr.PA09] inertia ratio/load to motor
ᘠᕈࡕ࡯ࡔࡦ࠻Ყ/
mass ratio]
0 0 0 ⽶⩄⾰㊂Ყ]
Response
Gain adjustment mode selection level
ࠥࠗࡦ⺞ᢛࡕ࡯࠼ㆬᛯ ᔕ╵ᕈ⸳ቯsetting
When a servo motor is accelerated/decelerated, the moment of inertia ratio estimation section always
estimates the load to motor inertia ratio from the current and speed of the servo motor. The results of
estimation are written to [Pr. PB06 Load to motor inertia ratio]. These results can be confirmed on the status
display screen of the MR Configurator2.
If the value of the load to motor inertia ratio is already known or if estimation cannot be made properly, set
"Gain adjustment mode selection" to " Auto tuning mode 2 (0 0 0 2)" in [Pr. PA08] to stop the estimation
(turning off the switch in above diagram), and set the load to motor inertia ratio ([Pr. PB06]) manually.
From the preset load to motor inertia ratio [Pr. PB06]) value and response )[Pr. PA09]), the optimum loop
gains are automatically set on the basis of the internal gain table.
The auto tuning results are saved in the EEP-ROM of the servo amplifier every 60 minutes since power-on.
At power-on, auto tuning is performed with the value of each loop gain saved in the EEP-ROM being used
as an initial value.
POINT
If sudden disturbance torque is imposed during operation, the load to motor
inertia ratio may be misestimated temporarily. In such a case, set "Gain
adjustment mode selection" to "Auto tuning mode 2 (0 0 0 2)" in [Pr. PA08] and
then set the correct load to motor inertia ratio in [Pr. PB06].
When any of the auto tuning mode 1 and auto tuning mode settings is changed
to the manual mode 2 setting, the current loop gains and load to motor inertia
ratio estimation value are saved in the EEP-ROM.
6 - 15
6.3.3 Adjustment procedure by auto tuning
Since auto tuning is made valid before shipment from the factory, simply running the servo motor
automatically sets the optimum gains that match the machine. Merely changing the response level setting
value as required completes the adjustment. The adjustment procedure is as follows.
Auto tuning adjustment

ࠝ࡯࠻࠴ࡘ࡯࠾ࡦࠣ⺞ᢛ
Acceleration/deceleration repeated
ടᷫㅦ➅㄰ߒ
Yes Load to motor inertia ratio

⽶⩄ᘠᕈࡕ࡯ࡔࡦ࠻
estimation value stable?
Ყផቯ୯߇቟ቯ?
No
ࠝ࡯࠻࠴ࡘ࡯࠾ࡦࠣ
Auto tuning conditions are
not satisfied? (Estimation of
᧦ઙࠍḩߚߒߡ޿ߥ޿? No
load to motor inertia ratio is
(⽶⩄ᘠᕈࡕ࡯ࡔࡦ࠻
difficult.)
Ყផቯ߇࿎㔍)
Yes
Set [Pr. PA08] to "0 0 0 2" and set [Pr. PB06
[Pr.PA08]ࠍ"0
Load to motor inertia0ratio/load
0 2"ߦ⸳ቯߒ㧘ࡑ
to motor mass
࠾ࡘࠕ࡞ߢ[Pr.PB06
ratio] manually. ⽶⩄ᘠᕈࡕ࡯
ࡔࡦ࠻Ყ/⽶⩄⾰㊂Ყ]ࠍ⸳ቯߔࠆ‫ޕ‬
Adjust response level setting so

ᝄേ߇⊒↢ߒߥ޿࡟ࡌ࡞ߢᚲᦸ
that desired response is achieved
ߩᔕ╵ᕈߦߥࠆࠃ߁ߦᔕ╵ᕈ⸳ቯ
on vibration-free level.
ࠍ⺞ᢛߔࠆ‫ޕ‬
Acceleration/deceleration
ടᷫㅦ➅㄰ߒ repeated
Requested performance satisfied? No

ⷐ᳞ᕈ⢻ḩ⿷?
Yes
End 2 gain adjustment

⚳ੌ ࡑ࠾ࡘࠕ࡞ࡕ࡯࠼߳
mode 2
6 - 16
6.3.4 Response level setting in auto tuning mode
Set the response of the whole servo system by [Pr. PA09]. As the response level setting is increased, the
track ability and settling time for a command decreases, but a too high response level will generate vibration.
Hence, make setting until desired response is obtained within the vibration-free range.
If the response level setting cannot be increased up to the desired response because of machine resonance
beyond 100 Hz, filter tuning mode selection in [Pr. PB01] or machine resonance suppression filter in [Pr.
PB13] to [Pr. PB16], [Pr. PB46] to [Pr. PB51] may be used to suppress machine resonance. Suppressing
machine resonance may allow the response level setting to increase. Refer to section 7.2 and 7.3 for
settings of the adaptive tuning mode and machine resonance suppression filter.
[Pr. PA09]
Machine characteristic Machine characteristic
Setting value Guideline for Setting value Guideline for
Response machine resonance Response machine resonance
frequency [Hz] frequency [Hz]
1 Low response 2.7 21 Middle response 67.1
2 3.6 22 75.6
3 4.9 23 85.2
4 6.6 24 95.9
5 10.0 25 108.0
6 11.3 26 121.7
7 12.7 27 137.1
8 14.3 28 154.4
9 16.1 29 173.9
10 18.1 30 195.9
11 20.4 31 220.6
12 23.0 32 248.5
13 25.9 33 279.9
14 29.2 34 315.3
15 32.9 35 355.1
16 37.0 36 400.0
17 41.7 37 446.6
18 47.0 38 501.2
19 52.9 39 571.5
20 Middle response 59.6 40 High response 642.7
6 - 17
6.4 Manual mode
If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with
three parameters.
POINT
If machine resonance occurs, filter tuning mode selection in [Pr. PB01] or
machine resonance suppression filter in [Pr. PB13] to [Pr. PB16] and [Pr. PB46]
to [Pr. PB51] may be used to suppress machine resonance. (Refer to section
7.2 to 7.3.)
(1) For speed control

(a) Parameter
The following parameters are used for gain adjustment.
(b) Adjustment procedure

Step Operation Description
1 Brief-adjust with auto tuning. Refer to section 6.2.3.
Change the setting of auto tuning to the manual mode ([Pr.
2
PA08]: 0 0 0 3).
Set the estimated value to the load to motor inertia ratio. (If the
3 estimate value with auto tuning is correct, setting change is not
required.)
Set a slightly smaller value to the model loop gain
4
Set a slightly larger value to the speed integral compensation.
Increase the speed loop gain within the vibration- and unusual Increase the speed loop
5
noise-free range, and return slightly if vibration takes place. gain.
Decrease the speed integral compensation within the vibration- Decrease the time
6 free range, and return slightly if vibration takes place. constant of the speed
integral compensation.
Increase the model loop gain, and return slightly if overshoot Increase the model loop
7
takes place. gain.
If the gains cannot be increased due to mechanical system Suppression of machine
resonance or the like and the desired response cannot be resonance
8 achieved, response may be increased by suppressing resonance Refer to section 7.2 and
with the adaptive tuning mode or machine resonance 7.3.
suppression filter and then executing steps 3 to 7.
9 While checking the motor status, fine-adjust each gain. Fine adjustment
6 - 18
(c) Parameter adjustment

1) [Pr. PB09 Speed loop gain]
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The
actual response frequency of the speed loop is as indicated in the following expression.
Speed loop gain setting

ㅦᐲ೙ᓮࠥࠗࡦ⸳ቯ୯
Speed loop response frequency [Hz] =
(1 + Load to motor inertia ratio) × 2Ƈ
(1 + ࠨ࡯ࡏࡕ࡯࠲ߦኻߔࠆ⽶⩄ᘠᕈࡕ࡯ࡔࡦ࠻Ყ) × 2Ǹ
2) [Pr. PB10 Speed integral compensation]

To eliminate stationary deviation against a command, the speed control loop is under proportional
integral control. For the speed integral compensation, set the time constant of this integral
control. Increasing the setting lowers the response level. However, if the load to motor inertia
ratio is large or the mechanical system has any vibratory element, the mechanical system is liable
to vibrate unless the setting is increased to some degree. The guideline is as indicated in the
following expression.
Speed integral compensation setting [ms]

2000㨪3000
҆ Speed loop gain +setting/(1 + Load to motor inertia ratio setting)
ㅦᐲ೙ᓮࠥࠗࡦ⸳ቯ୯/(1 ࠨ࡯ࡏࡕ࡯࠲ߦኻߔࠆ⽶⩄ᘠᕈࡕ࡯ࡔࡦ࠻Ყ⸳ቯ୯)
3) [Pr. PB07 Model loop gain]

This parameter determines the response level to a speed command. Increasing the value
improves track ability to a speed command, but a too high value will make overshoot liable to
occur at settling.

ㅦᐲ೙ᓮࠥࠗࡦ⸳ቯ୯ 1 1
Model loop gain guideline × 㨪
(1 + ࠨ࡯ࡏࡕ࡯࠲ߦኻߔࠆ⽶⩄ᘠᕈࡕ࡯ࡔࡦ࠻Ყ) 4 8
(2) For position control

(a) Parameter
The following parameters are used for gain adjustment.
6 - 19
(b) Adjustment procedure

1 Brief-adjust with auto tuning. Refer to section 6.2.3.
Change the setting of auto tuning to the manual mode ([Pr.
2
PA08]: 0 0 0 3).
Set the estimated value to the load to motor inertia ratio. (If the
3 estimate value with auto tuning is correct, setting change is not
required.)
Set a slightly smaller value to the model loop gain and the
4 position loop gain.
Set a slightly larger value to the speed integral compensation.
Increase the speed loop gain within the vibration- and unusual Increase the speed loop
5
noise-free range, and return slightly if vibration takes place. gain.
Decrease the speed integral compensation within the vibration- Decrease the time
6 free range, and return slightly if vibration takes place. constant of the speed
integral compensation.
Increase the position loop gain, and return slightly if vibration Increase the position loop
7
takes place. gain.
Increase the model loop gain, and return slightly if overshoot Increase the model loop
8
takes place. gain.
If the gains cannot be increased due to mechanical system Suppression of machine
resonance or the like and the desired response cannot be resonance
9 achieved, response may be increased by suppressing resonance Refer to section 7.2 and
with the adaptive tuning mode or machine resonance 7.3.
suppression filter and then executing steps 3 to 8.
While checking the settling characteristic and motor status, fine- Fine adjustment
10
adjust each gain.
(c) Parameter adjustment

1) [Pr. PB09 Speed loop gain]
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The
actual response frequency of the speed loop is as indicated in the following expression.

ㅦᐲ೙ᓮࠥࠗࡦ⸳ቯ୯
Speed loop response frequency [Hz] =
(1 + ࠨ࡯ࡏࡕ࡯࠲ߦኻߔࠆ⽶⩄ᘠᕈࡕ࡯ࡔࡦ࠻Ყ) × 2Ǹ
2) [Pr. PB10 Speed integral compensation]

To eliminate stationary deviation against a command, the speed control loop is under proportional
integral control. For the speed integral compensation, set the time constant of this integral
control. Increasing the setting lowers the response level. However, if the load to motor inertia
ratio is large or the mechanical system has any vibratory element, the mechanical system is liable
to vibrate unless the setting is increased to some degree. The guideline is as indicated in the
following expression.
Speed integral compensation setting [ms]

2000㨪3000
҆ Speed loop gain setting/(1 + Load to motor inertia ratio setting)
ㅦᐲ೙ᓮࠥࠗࡦ⸳ቯ୯/(1 + ࠨ࡯ࡏࡕ࡯࠲ߦኻߔࠆ⽶⩄ᘠᕈࡕ࡯ࡔࡦ࠻Ყ⸳ቯ୯)
6 - 20
3) [Pr. PB08 Position loop gain]

This parameter determines the response level to a disturbance to the position control loop.
Increasing the value increases the response level to the disturbance, but a too high value will
increase vibration of the mechanical system.

Position loop gain guideline × 㨪
(1 + Load to motor inertia
(1 + ࠨ࡯ࡏࡕ࡯࠲ߦኻߔࠆ⽶⩄ᘠᕈࡕ࡯ࡔࡦ࠻Ყ) ratio) × 2Ƈ 4 8
4) [Pr. PB07 Model loop gain]

This parameter determines the response level to a position command. Increasing the value
improves track ability to a position command, but a too high value will make overshoot liable to
occur at settling.

Model loop gain guideline × 㨪
(1 + ࠨ࡯ࡏࡕ࡯࠲ߦኻߔࠆ⽶⩄ᘠᕈࡕ࡯ࡔࡦ࠻Ყ) 4 8
6 - 21
6.5 2 gain adjustment mode
The 2 gain adjustment mode is used to match the position loop gains of the axes when performing the
interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode,
manually set the model loop gain that determines command track ability. Other parameters for gain
adjustment are set automatically.
(1) 2 gain adjustment mode 1 (interpolation mode)

The 2 gain adjustment mode 1 manually set the model loop gain that determines command track ability.
The mode constantly estimates the load to motor inertia ratio, and automatically set other parameters for
gain adjustment to optimum gains using auto tuning response.
The following parameters are used for 2 gain adjustment mode 1.
(a) Automatically adjusted parameter

The following parameters are automatically adjusted by auto tuning.
(b) Manually adjusted parameter

The following parameters are adjustable manually.
PA09 RSP Auto tuning response
(2) 2 gain adjustment mode 2

Use 2 gain adjustment mode 2 when proper gain adjustment cannot be made with 2 gain adjustment
mode 1. Since the load to motor inertia ratio is not estimated in this mode, set the value of a proper load
to motor inertia ratio in [Pr. PB06].
The following parameters are used for 2 gain adjustment mode 2.
(a) Automatically adjusted parameter

The following parameters are automatically adjusted by auto tuning.
(b) Manually adjusted parameter

The following parameters are adjustable manually.
PA09 RSP Auto tuning response
6 - 22
(3) Adjustment procedure of 2 gain adjustment mode
POINT
Set the same value in [Pr. PB07 Model loop gain] for the axis used in 2 gain
adjustment mode.

Select the auto tuning
1 Set to the auto tuning mode.
mode 1.
During operation, increase the response level setting value in [Pr. Adjustment in auto tuning
2
PA09], and return the setting if vibration occurs. mode 1.
Check value of the model loop gain and the load to motor Check the upper setting
3
inertia ratio in advance. limits.
Set the 2 gain adjustment mode 1 ([Pr. PA08]: 0 0 0 0). Select the 2 gain
4 adjustment mode 1
(interpolation mode).
When the load to motor inertia ratio is different from the design
Check the load to motor
5 value, select the 2 gain adjustment mode 2 ([Pr. PA08]: 0 0 0 4)
inertia ratio.
and then set the load to motor inertia ratio manually in [Pr. PB06].
Set the model loop gain of all the axes to be interpolated to the
6 same value. At that time, adjust to the setting value of the axis, Set position loop gain.
which has the smallest model loop gain.
Considering the interpolation characteristic and motor status,
7 Fine adjustment
fine-adjust the model loop gain and response level setting.
(4) Parameter adjustment

[Pr. PB07 Model loop gain]
This parameter determines the response level of the position control loop. Increasing the value improves
track ability to a position command, but a too high value will make overshoot liable to occur at settling.
The droop pulse value is determined by the following expression.
Position command frequency [pulse/s]

૏⟎ᜰ઎๟ᵄᢙ[pulse/s]
Number of droop pulses [pulse] =
Model loop gain setting
ࡕ࠺࡞೙ᓮࠥࠗࡦ⸳ቯ୯
Position command frequency differs depending on the operation mode.
Speed [r/min]
࿁ォㅦᐲ[r/min]
Position command frequency = × Encoder resolution (number of pulses per servo motor
60
revolution)
6 - 23
MEMO
6 - 24
7. SPECIAL ADJUSTMENT FUNCTIONS
POINT
The functions given in this chapter need not be used normally. Use them if you
are not satisfied with the machine status after making adjustment in the methods
in chapter 6.
7.1 Filter setting
The following filters are available with MR-J4 servo amplifiers.

Speed [Pr. PB18] [Pr. PB13] [Pr. PB15] [Pr. PB46]
control Machine Machine Machine
Command Command + Low-pass resonance resonance resonance
pulse train filter - filter setting suppression suppression suppression
filter 1 filter 2 filter 3
[Pr. PB48] [Pr. PB50] Load

Machine Machine
[Pr. PB49] resonance [Pr. PE41] resonance
suppression suppression Encoder
filter 4 filter 5
[Pr. PB17] PWM M
Shaft
resonance Robust Servo motor
suppression filter
filter
7.1.1 Machine resonance suppression filter
POINT
The machine resonance suppression filter is a delay factor for the servo system.
Therefore, vibration may increase if you set an incorrect resonance frequency or
set notch characteristics too deep or too wide.
If the frequency of machine resonance is unknown, decrease the notch
frequency from higher to lower ones in order. The optimum notch frequency is
set at the point where vibration is minimal.
A deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
A deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
The machine characteristic can be grasped beforehand by the machine analyzer
on MR Configurator2. This allows the required notch frequency and notch
characteristics to be determined.
If a mechanical system has a natural resonance point, increasing the servo system response level may
cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance
frequency. Using the machine resonance suppression filter and adaptive tuning can suppress the resonance
of the mechanical system. The setting range is 10 Hz to 4500 Hz.
7- 1
(1) Function
The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the
specific frequency to suppress the resonance of the mechanical system. You can set the gain decreasing
frequency (notch frequency), gain decreasing depth and width.
Response of mechanical
ᯏ
᪾ Machine
ᯏ᪾౒ᝄὐ resonance point
♽
ߩ
ᔕ
╵
system
ᕈ Frequency
๟ᵄᢙ
Notch characteristics
ࡁ Notch width
ࡁ࠶࠴ᐢߐ
࠶
࠴
․ Notch depth
ࡁ࠶࠴ᷓߐ
ᕈ
Frequency
๟ᵄᢙ
Notch frequency
ࡁ࠶࠴๟ᵄᢙ
You can set five machine resonance suppression filters at most.

Filter Setting parameter Precaution Parameter that is Parameter
reset with vibration automatically
tough drive adjusted with one-
function touch tuning
Machine resonance PB01/PB13/PB14 The filter can be set automatically with PB13 PB01/PB13/PB14
suppression filter 1 "Filter tuning mode selection" in [Pr.
PB01].
Machine resonance PB15/PB16 PB15 PB15/PB16
suppression filter 2
Machine resonance PB46/PB47 PB47
Machine resonance PB48/PB49 Enabling the filter disables the shaft PB48/PB49
suppression filter 4 resonance suppression filter.
The shaft resonance suppression filter is
enabled for the initial setting.
Machine resonance PB50/PB51 The setting of this filter is disabled while PB51
suppression filter 5 you use the robust filter.
The robust filter is disabled for the initial
setting.
7- 2
(2) Parameter
(a) Machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14])
Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1
([Pr. PB13] and [Pr. PB14])
When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr. PB01], the setting
of the machine resonance suppression filter 1 is enabled.
(b) Machine resonance suppression filter 2 ([Pr. PB15] and [Pr. PB16])
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 2 selection" in
[Pr. PB16].
How to set the machine resonance suppression filter 2 ([Pr. PB15] and [Pr. PB16]) is the same as for
the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]).
(c) Machine resonance suppression filter 3 ([Pr. PB46] and [Pr. PB47])
[Pr. PB47].
(d) Machine resonance suppression filter 4 ([Pr. PB48] and [Pr. PB49])
[Pr. PB49]. However, enabling the machine resonance suppression filter 4 disables the shaft
resonance suppression filter.
(e) Machine resonance suppression filter 5 ([Pr. PB50] and [Pr. PB51])
[Pr. PB51]. However, enabling the robust filter ([Pr. PE41: _ _ _ 1]) disables the machine resonance
suppression filter 5.
7- 3
7.1.2 Adaptive filter II
POINT
The machine resonance frequency which adaptive filter II (adaptive tuning) can
respond to is about 100 Hz to 2.25 kHz. As for the resonance frequency out of
the range, set manually.
When adaptive tuning is executed, vibration sound increases as an excitation
signal is forcibly applied for several seconds.
When adaptive tuning is executed, machine resonance is detected for a
maximum of 10 seconds and a filter is generated. After filter generation, the
adaptive tuning mode automatically shifts to the manual setting.
Adaptive tuning generates the optimum filter with the currently set control gains.
If vibration occurs when the response setting is increased, execute adaptive
tuning again.
During adaptive tuning, a filter having the best notch depth at the set control gain
is generated. To allow a filter margin against machine resonance, increase the
notch depth in the manual setting.
Adaptive vibration suppression control may provide no effect on a mechanical
system which has complex resonance characteristics.
(1) Function
Adaptive filter II (adaptive tuning) is a function in which the servo amplifier detects machine vibration for
a predetermined period of time and sets the filter characteristics automatically to suppress mechanical
system vibration. Since the filter characteristics (frequency, depth) are set automatically, you need not
be conscious of the resonance frequency of a mechanical system.
ᯏ ᯏ
᪾ Machine
ᯏ᪾౒ᝄὐ resonance point ᪾ Machine
ᯏ᪾౒ᝄὐ resonance point
♽ ♽
ߩ ߩ
ᔕ ᔕ
╵ ╵
Frequency Frequency
system
๟ᵄᢙ ๟ᵄᢙ
system
ᕈ ᕈ
ࡁ ࡁ
࠶ ࠶
Notch depth
Notch depth
࠴ ࠴
ᷓ ᷓ
ߐ ߐ
Frequency
๟ᵄᢙ Frequency
๟ᵄᢙ
Notch frequency
ࡁ࠶࠴๟ᵄᢙ Notch frequency
ࡁ࠶࠴๟ᵄᢙ
When machine resonance is large and When machine resonance is small and
frequency is low frequency is high
(2) Parameter
Select how to set the filter tuning in [Pr. PB01 Adaptive tuning mode (adaptive filter II)].
[Pr.PB01]
0 0 0
Filter tuning mode selection
ࡈࠖ࡞࠲࠴ࡘ࡯࠾ࡦࠣࡕ࡯࠼ㆬᛯ
⸳ቯ୯
Setting value Filter tuning mode selection
ࡈࠖ࡞࠲࠴ࡘ࡯࠾ࡦࠣࡕ࡯࠼ㆬᛯ Automatically
⥄േ⸳ቯߐࠇࠆࡄ࡜ࡔ࡯࠲ set parameter
0 Disabled
ήല
1 Automatic
⥄േ⸳ቯ setting PB13࡮PB14
2 Manual
ࡑ࠾ࡘࠕ࡞⸳ቯ setting
7- 4
(3) Adaptive tuning mode procedure
Adaptive tuning
ࠕ࠳ࡊ࠹ࠖࡉ࠴ࡘ࡯࠾ࡦࠣ
Operation
ㆇォ
Yes Is the⋡ᮡᔕ╵ߦ೔㆐?
target response reached?
No
Increase the response setting.

ᔕ╵ᕈ⸳ቯࠍ਄ߍࠆ‫ޕ‬
Has vibration or unusual No

ᝄേ߹ߚߪ⇣㖸⊒↢?
noise occurred?
Yes
Execute or re-execute adaptive
ࠕ࠳ࡊ࠹ࠖࡉ࠴ࡘ࡯࠾ࡦࠣታⴕ߹ߚ
tuning. (Set [Pr. PB01] to "_ _ _ 1".)
ߪౣታⴕ‫[(ޕ‬Pr.PB01]ࠍ"_ _ _ 1"ߦ
⸳ቯߒߡߊߛߐ޿‫)ޕ‬
Tuning ends automatically after the

৻ቯᤨ㑆ᓟ࠴ࡘ࡯࠾ࡦࠣ⥄േ⚳ੌ‫ޕ‬ Ifᝄേ߹ߚߪ⊒ᝄ߇ᄢ߈޿⁁ᘒߢ࠴ࡘ࡯࠾ࡦࠣࠍታⴕߒߡ߽ផቯ
assumption fails after tuning is executed at a large vibration or
predetermined period of time. ([Pr.
([Pr.PB01]߇"_ _ _ 2"߹ߚߪ oscillation, decrease the response setting temporarily down to
ߢ߈ߥ޿႐ว㧘৻ᐲᝄേ࡟ࡌ࡞߹ߢᔕ╵ᕈ⸳ቯࠍਅߍߡ߆ࠄታ
PB01] will be "_ _ _ 2" or "_ _ _ 0".)
"_ _ _ 0"ߦߥࠆ‫)ޕ‬ the vibration level and execute again.
ⴕߒߡߊߛߐ޿‫ޕ‬
Has vibration or unusual Yes

ᝄേ߹ߚߪ⇣㖸߇⸃ᶖ?
noise been resolved?
No
Decrease the response until vibration

ᝄേ߹ߚߪ⇣㖸߇⸃ᶖߔࠆ߹ߢᔕ╵ Using the machine analyzer, set the
ࡑࠪࡦࠕ࠽࡜ࠗࠩࠍ૶↪ߒߡࡑ࠾ࡘ Factor
ⷐ࿃
or unusual noise is resolved.
ᕈࠍਅߍࠆ‫ޕ‬ filter manually.
ࠕ࡞ߢࡈࠖ࡞࠲ࠍ⸳ቯߔࠆ‫ޕ‬ The response has increased to the machine limit.
࡮ᯏ᪾ߩ㒢⇇߹ߢᔕ╵ᕈ߇਄߇ߞߡ޿ࠆ‫ޕ‬
The machine is too complicated to provide the
࡮ᯏ᪾߇ⶄ㔀ߢᦨㆡࡈࠖ࡞࠲߇ᓧࠄࠇߥ޿‫ޕ‬
optimum filter.
End
⚳ੌ
7- 5
7.1.3 Shaft resonance suppression filter
(1) Function
When a load is mounted to the servo motor shaft, resonance by shaft torsion during driving may
generate a mechanical vibration at high frequency. The shaft resonance suppression filter suppresses
the vibration.
When you select "Automatic setting", the filter will be set automatically on the basis of the motor you use
and the load to motor inertia ratio. The enabled setting increases the response of the servo amplifier for
high resonance frequency.
(2) Parameter
Set "Shaft resonance suppression filter selection" in [Pr. PB23].
[Pr.PB23]
0 0 0
Shaft resonance suppression filter selection
ゲ౒ᝄᛥ೙ࡈࠖ࡞࠲ㆬᛯ
0: Automatic
⥄േ⸳ቯ setting
1: Manual
ࡑ࠾ࡘࠕ࡞⸳ቯsetting
Disabled
2: ήല
To set [Pr. PB17 Shaft resonance suppression filter] automatically, select "Automatic setting".
To set [Pr. PB17 Shaft resonance suppression filter] manually, select "Manual setting". The setting
values are as follows.
Shaft resonance suppression filter setting frequency

selection
Setting Setting
Frequency [Hz] Frequency [Hz]
value value
__00 Disabled __10 562
__01 Disabled __11 529
__02 4500 __12 500
__03 3000 __13 473
__04 2250 __14 450
__05 1800 __15 428
__06 1500 __16 409
__07 1285 __17 391
__08 1125 __18 375
__09 1000 __19 360
__0A 900 __1A 346
__0B 818 __1B 333
__0C 750 __1C 321
__0D 692 __1D 310
__0E 642 __1E 300
__0F 600 __1F 290
7- 6
7.1.4 Low-pass filter
(1) Function
When a ball screw or the like is used, resonance of high frequency may occur as the response level of
the servo system is increased. To prevent this, the low-pass filter is enabled for a torque command as a
default. The filter frequency of the low-pass filter is automatically adjusted to the value in the following
equation.
VG2
Filter frequency ([rad/s]) = × 10
1 + GD2
To set [Pr. PB18] manually, select "Manual setting (_ _ 1 _)" of "Low-pass filter selection" in [Pr. PB23].
(2) Parameter
Set "Low-pass filter selection" in [Pr. PB23].
[Pr.PB23]
0 0 0
Low-pass
ࡠ࡯ࡄࠬࡈࠖ࡞࠲ㆬᛯfilter selection
0: Automatic
⥄േ⸳ቯ setting
1: Manual
ࡑ࠾ࡘࠕ࡞⸳ቯ setting
Disabled
2: ήല
7.1.5 Advanced vibration suppression control II
POINT
The function is enabled when "Gain adjustment mode selection" in [Pr. PA08] is
"Auto tuning mode 2 (_ _ _ 2)", "Manual mode (_ _ _ 3)", or "2 gain adjustment
mode 2 (_ _ _ 4)".
The machine resonance frequency supported in the vibration suppression
control tuning mode is 1.0 Hz to 100.0 Hz. As for the vibration out of the range,
set manually.
Stop the servo motor before changing the vibration suppression control-related
parameters. Otherwise, it may cause an unexpected operation.
For positioning operation during execution of vibration suppression control
tuning, provide a stop time to ensure a stop after vibration damping.
Vibration suppression control tuning may not make normal estimation if the
residual vibration at the servo motor side is small.
Vibration suppression control tuning sets the optimum parameter with the
currently set control gains. When the response setting is increased, set vibration
suppression control tuning again.
When using the vibration suppression control 2, set "_ _ _ 1" in [Pr. PA24].
7- 7
(1) Function
Vibration suppression control is used to further suppress load-side vibration, such as work-side vibration
and base shake. The servo motor-side operation is adjusted for positioning so that the machine does not
vibrate.
Position
Position
૏ ૏
⟎ ⟎
Servo motor-side
ࠨ࡯ࡏࡕ࡯࠲┵ Servo motor-side
ࠨ࡯ࡏࡕ࡯࠲┵
Load side
ᯏ᪾┵ Load side
ᯏ᪾┵
t t
Vibration
೙ᝄ೙ᓮࠝࡈsuppression: off Vibration೙ᝄ೙ᓮࠝࡦ
suppression control: on
(ㅢᏱ೙ᓮ)
(normal)
When the advanced vibration suppression control II ([Pr. PB02 Vibration suppression control tuning
mode]) is executed, the vibration frequency at load side is automatically estimated to suppress machine
side vibration two times at most.
In the vibration suppression control tuning mode, this mode shifts to the manual setting after the
positioning operation is performed the predetermined number of times. For manual setting, adjust the
vibration suppression control 1 with [Pr. PB19] to [Pr. PB22] and vibration suppression control 2 with [Pr.
PB52] to [Pr. PB55].
(2) Parameter
Set [Pr. PB02 Vibration suppression control tuning mode (advanced vibration suppression control II)].
When you use a vibration suppression control, set "Vibration suppression control 1 tuning mode
selection". When you use two vibration suppression controls, set "Vibration suppression control 2 tuning
mode selection" in addition.
[Pr.PB02]
0 0
Vibration suppression
೙ᝄ೙ᓮ1 ࠴ࡘ࡯࠾ࡦࠣࡕ࡯࠼ control 1 tuning mode
⸳ቯ୯
Setting value ೙ᝄ೙ᓮ࠴ࡘ࡯࠾ࡦࠣࡕ࡯࠼ㆬᛯ
Vibration suppression control 1 tuning mode selection Automatically
⥄േ⸳ቯߐࠇࠆࡄ࡜ࡔ࡯࠲ set parameter
_ _ _ 0 Disabled
ήല
_ _ _ 1 Automatic
⥄േ⸳ቯ setting PB19࡮PB20࡮PB21࡮PB22
_ _ _ 2 Manualࡑ࠾ࡘࠕ࡞⸳ቯ setting
೙ᝄ೙ᓮ2 ࠴ࡘ࡯࠾ࡦࠣࡕ࡯࠼ control 2 tuning mode
⸳ቯ୯
Setting value
೙ᝄ೙ᓮ2࠴ࡘ࡯࠾ࡦࠣࡕ࡯࠼ㆬᛯ
Vibration suppression control 2 tuning mode selection Automatically set parameter
⥄േ⸳ቯߐࠇࠆࡄ࡜ࡔ࡯࠲
_ _ 0 _ Disabled
ήല
_ _ 1 _ Automatic
⥄േ⸳ቯ setting PB52࡮PB53࡮PB54࡮PB55
_ _ 2 _ Manualࡑ࠾ࡘࠕ࡞⸳ቯ setting
7- 8
(3) Vibration suppression control tuning procedure

The following flow chart is for the vibration suppression control 1. For the vibration suppression control 2,
set "_ _ 1 _" in [Pr. PB02] to execute the vibration suppression control tuning.
Vibration suppression control
೙ᝄ೙ᓮ࠴ࡘ࡯࠾ࡦࠣ
tuning
Operation
ㆇォ
Yes Is the⋡ᮡᔕ╵ߦ೔㆐?
target response reached?
No
Increase the response setting.

ᔕ╵ᕈ⸳ቯࠍ਄ߍࠆ‫ޕ‬
Has vibration of workpiece No

ࡢ࡯ࠢ┵࡮ⵝ⟎ߩᝄേᄢ?
end/device increased?
Yes
Stop operation.
ㆇォ஗ᱛ
Execute or re-execute vibration

೙ᝄ೙ᓮ࠴ࡘ࡯࠾ࡦࠣታⴕ߹ߚߪౣ
suppression control tuning.
ታⴕ‫[(ޕ‬Pr.PB02]ࠍ"_ (Set [Pr.
_ _ 1"ߦ⸳ቯߒ
PB02] to "_ _ _ 1".)
ߡߊߛߐ޿‫)ޕ‬
Resume operation.
ㆇォౣ㐿
Tuning ends automatically after positioning

৻ቯ࿁ᢙ૏⟎᳿߼ㆇォᓟ࠴ࡘ࡯࠾ࡦ
operation is performed the predetermined
ࠣ⥄േ⚳ੌ‫[(ޕ‬Pr.PB02]߇"_
number _ "_
of times. ([Pr. PB02] will be _ 2"
__
or "_ _ _ _
߹ߚߪ"_
2" _ 0"ߦߥࠆ‫)ޕ‬
0".)
ࡢ࡯ࠢ┵࡮ⵝ⟎ߩ
Has vibration of workpiece Yes
end/device been resolved?
ᝄേ߇⸃ᶖ‫ޕ‬
No
Decrease the response until vibration Using a machine analyzer or considering Factor
ⷐ࿃
ࡑࠪࡦࠕ࠽࡜ࠗࠩ߹ߚߪᯏ᪾┵ߩ
ࡢ࡯ࠢ┵࡮ⵝ⟎ߩᝄേ߇⸃ᶖߔࠆ߹
of workpiece end/device is resolved. load-side vibration waveform, set the Estimation cannot be made as load-side vibration
࡮ᯏ᪾┵ߩᝄേ߇ࠨ࡯ࡏࡕ࡯࠲┵߹ߢવࠊߞߡ޿ߥ
ᝄേᵄᒻ߆ࠄࡑ࠾ࡘࠕ࡞ߢ೙ᝄ೙ᓮ
ߢᔕ╵ᕈࠍਅߍࠆ‫ޕ‬ vibration suppression control manually. has not been transmitted to the servo motor side.
‫ߦ߼ߚ޿ޓ‬ផቯߢ߈ߥ޿‫ޕ‬
ࠍ⸳ቯߔࠆ‫ޕ‬
The response of the model loop gain has increased
࡮ࡕ࠺࡞૏⟎ࠥࠗࡦ߇ᯏ᪾┵ߩᝄേ๟ᵄᢙ(೙ᝄ೙ᓮ
to the load-side vibration frequency (vibration
‫ߩޓ‬㒢⇇)߹ߢᔕ╵ᕈ߇਄߇ߞߡ޿ࠆ‫ޕ‬
suppression control limit).
End
⚳ੌ
7- 9
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(a) When a vibration peak can be confirmed with machine analyzer using MR Configurator2, or external
equipment.
೙ᝄ೙ᓮ2 ᝄേ๟ᵄᢙ
Vibration frequency
(෻౒ᝄ๟ᵄᢙ)
(anti-resonance frequency)
[Pr.PB52] Vibration suppression control 2 - Resonance frequency
೙ᝄ೙ᓮ2 ౒ᝄ๟ᵄᢙ⸳ቯ
[Pr.PB53]
Gain characteristics
ࠥࠗࡦ․ᕈ
1Hz 300Hz
Resonance of more than 300 Hz
300Hzએ਄ߩ౒ᝄߪ
Vibration suppression control 1 is not the target of control.
Vibration suppression control 1 - ೙ᝄ೙ᓮ1
- Resonance౒ᝄ๟ᵄᢙ
frequency ኻ⽎ᄖߦߥࠅ߹ߔ‫ޕ‬
೙ᝄ೙ᓮ1 ᝄേ๟ᵄᢙ
Vibration frequency [Pr.PB20]
(෻౒ᝄ๟ᵄᢙ)
(anti-resonance frequency)
[Pr.PB19]
Phase
૏⋧
-90deg.
(b) When vibration can be confirmed using monitor signal or external sensor
Motor-side vibration
ࠨ࡯ࡏࡕ࡯࠲┵ᝄേ External acceleration pickup signal, etc.
ᄖㇱടㅦᐲࡇ࠶ࠢࠕ࠶ࡊାภߥߤ
(ḳࠅࡄ࡞ࠬ)
(droop pulses)
Position
૏⟎ᜰ઎๟ᵄᢙ command frequency
t t
Vibration cycle [Hz]

ᝄേ๟ᦼ[Hz] Vibration೙ᝄ೙ᓮᝄേ๟ᵄᢙ
suppression control - Vibration frequency Vibration
ᝄേ๟ᦼ[Hz] cycle [Hz]
೙ᝄ೙ᓮ౒ᝄ๟ᵄᢙ control - Resonance frequency
Set the same value.

ห৻୯ࠍ⸳ቯߒߡߊߛߐ޿‫ޕ‬
Step 3 Fine-adjust "Vibration suppression control - Vibration frequency dumping setting" and "Vibration
suppression control - Resonance frequency dumping setting".
7 - 11
7.1.6 Command notch filter
POINT
By using the advanced vibration suppression control II and the command notch
filter, the load-side vibration of three frequencies can be suppressed.
The frequency range of machine vibration, which can be supported by the
command notch filter, is between 4.5 Hz and 2250 Hz. Set a frequency close to
the machine vibration frequency and within the range.
When [Pr. PB45 Command notch filter] is changed during the positioning
operation, the changed setting is not reflected. The setting is reflected
approximately 150 ms after the servo motor stops (after servo-lock).
(1) Function
Command notch filter has a function that lowers the gain of the specified frequency contained in a
position command. By lowering the gain, load-side vibration, such as work-side vibration and base
shake, can be suppressed. Which frequency to lower the gain and how deep to lower the gain can be
set.
Position
Position
૏
૏
⟎ ⟎
Load side
ᯏ᪾┵ Load
ᯏ᪾┵ side
t t
Command notch filter: disabled Command notch filter: enabled
7 - 12
(2) Parameter
Set [Pr. PB45 Command notch filter] as shown below. For the command notch filter setting frequency,
set the closest value to the vibration frequency [Hz] at the load side.
[Pr.PB45]
0
Notch
ࡁ࠶࠴ᷓߐ depth Control command from controller
ᜰ઎ࡁ࠶࠴ࡈࠖ࡞࠲⸳ቯ๟ᵄᢙ
Setting
⸳ቯ୯
value Depth [dB]
ᷓߐ[dB] Setting Frequency
๟ᵄᢙ Setting Frequency
๟ᵄᢙ Setting Frequency
๟ᵄᢙ
⸳ቯ୯
value [Hz] ⸳ቯ୯
value [Hz] ⸳ቯ୯
value [Hz]
0 -40.0
1 -24.1 00 ήല
Disabled 20 70 40 17.6
2 -18.1 01 2250 21 66 41 16.5
3 -14.5 02 1125 22 62 42 15.6
4 -12.0 03 750 23 59 43 14.8
5 -10.1 04 562 24 56 44 14.1
6 -8.5 05 450 25 53 45 13.4
7 -7.2 06 375 26 51 46 12.8
8 -6.0 07 321 27 48 47 12.2
9 -5.0 08 281 28 46 48 11.7
A -4.1 09 250 29 45 49 11.3
B -3.3 0A 225 2A 43 4A 10.8
C -2.5 0B 204 2B 41 4B 10.4
D -1.8 0C 187 2C 40 4C 10.0
E -1.2 0D 173 2D 38 4D 9.7
F -0.6 0E 160 2E 37 4E 9.4
0F 150 2F 36 4F 9.1
10 140 30 35.2 50 8.8
11 132 31 33.1 51 8.3
12 125 32 31.3 52 7.8
13 118 33 29.6 53 7.4
14 112 34 28.1 54 7.0
15 107 35 26.8 55 6.7
16 102 36 25.6 56 6.4
17 97 37 24.5 57 6.1
18 93 38 23.4 58 5.9
19 90 39 22.5 59 5.6
1A 86 3A 21.6 5A 5.4
1B 83 3B 20.8 5B 5.2
1C 80 3C 20.1 5C 5.0
1D 77 3D 19.4 5D 4.9
1E 75 3E 18.8 5E 4.7
1F 72 3F 18.2 5F 4.5
7 - 13
7.2 Gain switching function
You can switch gains with the function. You can switch gains during rotation and during stop, and can use a
input device to switch gains during operation.
7.2.1 Applications
The following shows when you use the function.
(1) You want to increase the gains during servo-lock but decrease the gains to reduce noise during rotation.
(2) You want to increase the gains during settling to shorten the stop settling time.
(3) You want to change the gains using a input device to ensure stability of the servo system since the load
to motor inertia ratio varies greatly during a stop (e.g. a large load is mounted on a carrier).
7 - 14
7.2.2 Function block diagram
The control gains, load to motor inertia ratio, and vibration suppression control settings are changed
according to the conditions selected by [Pr. PB26 Gain switching function] and [Pr. PB27 Gain switching
condition].
CDP
[Pr.PB26]
Input device (CDP)
ࠦࡦ࠻ࡠ࡯࡜߆ࠄߩ
೙ᓮᜰ઎
Command pulse
ᜰ઎ࡄ࡞ࠬ๟ᵄᢙ +
frequency
-
Droop
ḳࠅࡄ࡞ࠬ pulses +
-
Changing
ಾ឵߃
Model
ࡕ࠺࡞ㅦᐲ speed +
-
Comparator
Ყセེ
CDL
[Pr.PB27]
GD2 VRF11
[Pr.PB06] Enabled [Pr.PB19] Enabled
᦭ലߥ ᦭ലߥ
GD2B GD2 value
GD2୯ VRF11B
VRF11
VRF11୯value
[Pr.PB29] [Pr.PB33]
PG1 VRF12
᦭ലߥ ᦭ലߥ
PG1 value
PG1୯ VRF12
VRF12୯value
PG1B VRF12B
[Pr.PB60] [Pr.PB34]
PG2 VRF13
᦭ലߥ ᦭ലߥ
PG2B PG2 value
PG2୯ VRF13B
VRF13
VRF13୯value
[Pr.PB30] [Pr.PB35]
VG2 VRF14
᦭ലߥ ᦭ലߥ
VG2 value
VG2୯ VRF14
VRF14୯value
VG2B VRF14B
[Pr.PB31] [Pr.PB36]
VIC VRF21
᦭ലߥ ᦭ലߥ
VIC value
VIC୯ VRF21
VRF21୯value
VICB VRF21B
[Pr.PB32] [Pr.PB56]
VRF22
[Pr.PB53] Enabled
᦭ലߥ
VRF22
VRF22୯value
VRF22B
[Pr.PB57]
VRF23
[Pr.PB54] Enabled
᦭ലߥ
VRF23
VRF23୯value
VRF23B
[Pr.PB58]
VRF24
[Pr.PB55] Enabled
᦭ലߥ
VRF24
VRF24୯value
VRF24B
[Pr.PB59]
7 - 15
7.2.3 Parameter
When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment mode
selection" in [Pr. PA08 Auto tuning mode]. The gain switching function cannot be used in the auto tuning
mode.
(1) Variable gain operation setting parameter

Parameter Symbol Name Unit Description
PB26 CDP Gain switching selection Used to select the changing condition.
PB27 CDL Gain switching condition [kpps] Used to set the changing condition values.
/[pulse]
/[r/min]
PB28 CDT Gain switching time constant [ms] You can set the filter time constant for a gain change at
changing.
(a) [Pr. PB26 Gain switching function]

Used to set the gain switching condition. Select the switching condition in the first digit and second
digit.
[Pr.PB26]
0 0
Gain switching selection
ࠥࠗࡦಾ឵߃ㆬᛯ
Disabled
0: ήല
Input device (gain switching (CDP))
1: ࠦࡦ࠻ࡠ࡯࡜߆ࠄߩ೙ᓮᜰ઎߇᦭ല
2: Command
ᜰ઎๟ᵄᢙfrequency
3: Droop
ḳࠅࡄ࡞ࠬ pulses
4: Servo motor speed
ࠨ࡯ࡏࡕ࡯࠲࿁ォㅦᐲ/࡝࠾ࠕࠨ࡯ࡏࡕ࡯࠲ㅦᐲ
Gain switching condition

ࠥࠗࡦಾ឵߃᧦ઙ
0: Gain after switching is enabled with gain switching condition or more
ಾ឵߃᧦ઙએ਄ߢಾ឵߃ᓟࠥࠗࡦ᦭ല
1: Gain after switching is enabled with gain switching condition or less
ಾ឵߃᧦ઙએਅߢಾ឵߃ᓟࠥࠗࡦ᦭ല
(b) [Pr. PB27 Gain switching condition]

Set a level to switch gains after you select "Command frequency", "Droop pulses", or "Servo motor
speed" in [Pr. PB26 Gain switching function].
The setting unit is as follows.
Gain switching condition Unit
Command frequency [kpps]
Droop pulses [pulse]
Servo motor speed [r/min]
(c) [Pr. PB28 Gain switching time constant]

You can set the primary delay filter to each gain at gain switching. This parameter is used to
suppress shock given to the machine if the gain difference is large at gain switching, for example.
7 - 16
(2) Switchable gain parameter

Before switching After switching
Loop gain
Parameter Symbol Name Parameter Symbol Name
Load to motor inertia ratio PB06 GD2 Load to motor inertia ratio PB29 GD2B Load to motor inertia ratio
after gain switching
Model loop gain PB07 PG1 Model loop gain PB60 PG1B Model loop gain after gain
switching
Position loop gain PB08 PG2 Position loop gain PB30 PG2B Position loop gain after
gain switching
Speed loop gain PB09 VG2 Speed loop gain PB31 VG2B Speed loop gain after gain
switching
Speed integral PB10 VIC Speed integral PB32 VICB Speed integral
compensation compensation compensation after gain
switching
Vibration suppression PB19 VRF11 Vibration suppression PB33 VRF11B Vibration suppression
control 1 - Vibration control 1 - Vibration control 1 - Vibration
frequency frequency frequency after gain
switching
control 1 - Resonance control 1 - Resonance control 1 - Resonance
switching
frequency dumping setting frequency dumping setting frequency dumping setting
switching
switching
(a) [Pr. PB06] to [Pr. PB10]

These parameters are the same as in ordinary manual adjustment. Gain switching allows the values
of load to motor inertia ratio, position loop gain, speed loop gain, and speed integral compensation to
be switched.
(b) [Pr.PB19] to [Pr.PB22]/[Pr.PB52] to [Pr.PB55]

These parameters are the same as in ordinary manual adjustment. Executing gain switching while
the servo motor stops, You can change vibration frequency, resonance frequency, vibration
frequency dumping setting, and resonance frequency dumping setting.
7 - 17
(c) [Pr. PB29 Load to motor inertia ratio after gain switching]
Set the load to motor inertia ratio after gain switching. If the load to motor inertia ratio does not
change, set it to the same value as [Pr. PB06 Load to motor inertia ratio].
(d) [Pr. PB30 Position loop gain after gain switching], [Pr. PB31 Speed loop gain after gain switching],
and [Pr. PB32 Speed integral compensation after gain switching]
Set the values of after switching position loop gain, speed loop gain and speed integral
compensation.
(e) Vibration suppression control after gain switching ([Pr.PB33] to [Pr.PB36]/[Pr.PB56] to [Pr.PB59]),
and [Pr. PB60 Model loop gain after gain switching]
The gain switching vibration suppression control and model loop gain are used only with input device
(CDP) on/off.
You can switch the vibration frequency, resonance frequency, vibration frequency dumping setting,
resonance frequency dumping setting, and model loop gain of the vibration suppression control 1
and vibration suppression control 2.
7 - 18
7.2.4 Gain switching procedure

This operation will be described by way of setting examples.
(1) When you choose switching by input device (CDP)

(a) Setting
Parameter Symbol Name Setting value Unit
PB07 PG1 Model loop gain 100 [rad/s]
PB08 PG2 Position loop gain 120 [rad/s]
PB10 VIC Speed integral compensation 20 [ms]
PB19 VRF11 Vibration suppression control 1 - Vibration 50 [Hz]
frequency
PB20 VRF12 Vibration suppression control 1 - 50 [Hz]
Resonance frequency
PB21 VRF13 Vibration suppression control 1 - Vibration 0.20
frequency dumping setting
PB22 VRF14 Vibration suppression control 1 - 0.20
Resonance frequency dumping setting
PB52 VRF21 Vibration suppression control 2 - Vibration 20 [Hz]
frequency
PB53 VRF22 Vibration suppression control 2 - 20 [Hz]
Resonance frequency
PB54 VRF23 Vibration suppression control 2 - Vibration 0.10
PB55 VRF24 Vibration suppression control 2 - 0.10
PB29 GD2B Load to motor inertia ratio after gain 10.00 [Multiplier]
switching
PB60 PG1B Model loop gain after gain switching 50 [rad/s]
PB30 PG2B Position loop gain after gain switching 84 [rad/s]
PB31 VG2B Speed loop gain after gain switching 4000 [rad/s]
PB32 VICB Speed integral compensation after gain 50 [ms]
switching
PB26 CDP Gain switching function 0001
(Switch by input device
(CDP) on/off.)
PB33 VRF11B Vibration suppression control 1 - Vibration 60 [Hz]
frequency after gain switching
PB34 VRF12B Vibration suppression control 1 - 60 [Hz]
Resonance frequency after gain switching
PB35 VRF13B Vibration suppression control 1 - Vibration 0.15
frequency dumping setting after gain
switching
PB36 VRF14B Vibration suppression control 1 - 0.15
PB56 VRF21B Vibration suppression control 2 - Vibration 30 [Hz]
frequency after gain switching
PB57 VRF22B Vibration suppression control 2 - 30 [Hz]
Resonance frequency after gain switching
PB58 VRF23B Vibration suppression control 2 - Vibration 0.05
frequency dumping setting after gain
switching
PB59 VRF24B Vibration suppression control 2 - 0.05
7 - 19
(b) Switching timing chart

CDP (gain switching)
ࠦࡦ࠻ࡠ࡯࡜߆ࠄߩ OFF OFF
೙ᓮᜰ઎ ON
After-switching
ಾ឵߃ᓟࠥࠗࡦ gain
63.4%
Before-switching
ಾ឵߃೨ࠥࠗࡦ gain
Gain switching
ฦࠥࠗࡦߩᄌൻ
CDT = 100ms
Model loop gain 100 ĺ 50 ĺ 100

Load to motor inertia ratio 4.00 ĺ 10.00 ĺ 4.00
Position loop gain 120 ĺ 84 ĺ 120
Speed loop gain 3000 ĺ 4000 ĺ 3000
Speed integral compensation 20 ĺ 50 ĺ 20
Vibration suppression control 1 - Vibration
50 ĺ 60 ĺ 50
frequency
50 ĺ 60 ĺ 50
Resonance frequency
0.20 ĺ 0.15 ĺ 0.20
0.20 ĺ 0.15 ĺ 0.20
20 ĺ 30 ĺ 20
frequency
20 ĺ 30 ĺ 20
Resonance frequency
0.10 ĺ 0.05 ĺ 0.10
0.10 ĺ 0.05 ĺ 0.10
(2) When you choose switching by droop pulses

In this case, the vibration suppression control after gain switching and model loop gain after gain
switching cannot be used.
(a) Setting
Parameter Symbol Name Setting value Unit
PB08 PG2 Position loop gain 120 [rad/s]
PB10 VIC Speed integral compensation 20 [ms]
PB29 GD2B Load to motor inertia ratio after 10.00 [Multiplier]
gain switching
PB30 PG2B Position loop gain after gain 84 [rad/s]
switching
PB31 VG2B Speed loop gain after gain 4000 [rad/s]
switching
PB32 VICB Speed integral compensation after 50 [ms]
gain switching
PB26 CDP Gain switching selection 0003
(switching by droop pulses)
PB27 CDL Gain switching condition 50 [pulse]
7 - 20
(b) Switching timing chart

Command
ᜰ઎ࡄ࡞ࠬpulse Droop
ḳࠅࡄ࡞ࠬ pulses
+CDL
Droop pulses
ḳࠅࡄ࡞ࠬ[pulse] 0
CDL
After-switching
ಾ឵߃ᓟࠥࠗࡦ gain
63.4%
Before-switching
ಾ឵߃೨ࠥࠗࡦ gain
Gain switching
ฦࠥࠗࡦߩᄌൻ
CDT = 100ms
Load to motor inertia ratio 4.00 ĺ 10.00 ĺ 4.00 ĺ 10.00

Position loop gain 120 ĺ 84 ĺ 120 ĺ 84
Speed loop gain 3000 ĺ 4000 ĺ 3000 ĺ 4000
Speed integral compensation 20 ĺ 50 ĺ 20 ĺ 50
7 - 21
7.3 Tough drive function

POINT
Set enable/disable of the tough drive function with [Pr. PA20 Tough drive
setting]. (Refer to section 5.2.1.)
This function makes the equipment continue operating even under the condition that an alarm occurs.
7.3.1 Vibration tough drive function
This function prevent from vibrating by resetting a filter instantaneously when machine resonance occurs due
to varied vibration frequency caused machine aging.
To reset the machine resonance suppression filters with the function, [Pr. PB13 Machine resonance
suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] should be set in advance.
Set [Pr. PB13] and [Pr. PB15] as follows.
(1) One-touch tuning execution (section 6.1)
(2) Manual setting (section 4.2.2)
The vibration tough drive function operates when a detected machine resonance frequency is within ±30%
for a value set in [Pr. PB13 Machine resonance suppression filter 1] or [Pr. PB15 Machine resonance
suppression filter 2].
To set a detection level of the function, set sensitivity in [Pr. PF23 Vibration tough drive - Oscillation detection
level].
POINT
Resetting [Pr. PB13] and [Pr. PB15]by the vibration tough drive function is
performed constantly. However, the number of write times to the EEPROM is
limited to once per hour.
The vibration tough drive function does not reset [Pr. PB46 Machine resonance
suppression filter 3], [Pr. PB48 Machine resonance suppression filter 4], and [Pr.
PB50 Machine resonance suppression filter 5].
7 - 22
The following shows the function block diagram of the vibration tough drive function.
The function detects machine resonance frequency and compare it with [Pr. PB13] and [Pr. PB15], and reset
a machine resonance frequency of a parameter whose set value is closer.
Filter Setting parameter Precaution Parameter that is
reset with vibration
tough drive
function
Machine resonance PB01/PB13/PB14 The filter can be set automatically with PB13
suppression filter 1 "Filter tuning mode selection" in [Pr.
PB01].
Machine resonance PB15/PB16 PB15
Machine resonance PB46/PB47
Machine resonance PB48/PB49 Enabling the filter disables the shaft
suppression filter 4 resonance suppression filter.
The shaft resonance suppression filter is
enabled for the initial setting.
Machine resonance PB50/PB51 The setting of this filter is disabled while
suppression filter 5 you use the robust filter.
The robust filter is disabled for the initial
setting.
Speed [Pr. PB18] [Pr. PB13] [Pr. PB15] [Pr. PB46]

control Machine Machine Machine
Command Command + Low-pass resonance resonance resonance
pulse train filter - filter setting suppression suppression suppression
filter 1 filter 2 filter 3
[Pr. PB48] [Pr. PB50] Load
[Pr. PB49] Machine [Pr. PE41] Machine

resonance resonance
suppression suppression Encoder
filter 4 filter 5
[Pr. PB17] PWM M
Shaft
resonance Robust Servo motor
suppression filter
filter
[Pr.PF23
[Pr. ᝄേ࠲ࡈ࠼࡜ࠗࡉ⊒ᝄᬌ⍮࡟ࡌ࡞]
PF23 Vibration tough drive - Oscillation detection level]
Torque
࠻࡞ࠢ
Detects the machine resonance and reconfigures the filter automatically.

ᯏ᪾౒ᝄࠍᬌ⍮ߒ㧘ࡈࠖ࡞࠲ࠍ⥄േ⊛ߦౣ⸳ቯߒ߹ߔ‫ޕ‬
ALMCALM ON
(Malfunction)
(౒ㅢ᡿㓚) OFF
5s
WNGWNG ON
(⼊๔)
(Warning) OFF
During tough drive (MTTR) is not turned on in the vibration tough drive function.
ᝄേ࠲ࡈ࠼࡜ࠗࡉᯏ⢻ߢߪONߦߥࠅ߹ߖࠎ‫ޕ‬
MTTR
MTTR ON
(࠲ࡈ࠼࡜ࠗࡉਛ)
(During tough drive) OFF
7 - 23
7.3.2 Instantaneous power failure tough drive function
During the instantaneous power failure tough drive, the torque may be limited due
to the load conditions or the set value of [Pr. PF25 Instantaneous power failure
tough drive - Detection time].
CAUTION The immunity to instantaneous power failures is increased by the instantaneous
power failure tough drive function. However, it is not compliant with the SEMI-F47
specification.
The instantaneous power failure tough drive function avoids [AL. 10 Undervoltage] even when an
instantaneous power failure occurs during operation. When the instantaneous power failure tough drive
activates, the function will increase the immunity to instantaneous power failures using the electrical energy
charged in the capacitor in the servo amplifier and will change an alarm level of [AL. 10 Undervoltage]
simultaneously. The [AL. 10.1 Voltage drop in the control power] detection time for the control circuit power
supply can be changed by [Pr. PF25 Instantaneous power failure tough drive - Detection time]. In addition,
[AL.10.2 Voltage drop in the main circuit power] detection level for the bus voltage is changed automatically.
POINT
MBR (Electromagnetic brake interlock) will not turn off during the instantaneous
power failure tough drive.
When the load of instantaneous power failure is large, the undervoltage alarm
([AL. 10.2]) caused by the bus voltage drop may occur regardless of the set
value of [Pr. PF25 Instantaneous power failure tough drive - Detection time].
7 - 24
(1) Instantaneous power failure time of the control circuit power supply > [Pr. PF25 Instantaneous power
failure tough drive - Detection time]
The alarm occurs when the instantaneous power failure time of the control circuit power supply exceeds
[Pr. PF25 Instantaneous power failure tough drive - Detection time].
MTTR (During tough drive) turns on after detecting the instantaneous power failure.
MBR (Electromagnetic brake interlock) turns off when the alarm occurs.
Instantaneous power failure time of the control
೙ᓮ࿁〝㔚Ḯ⍍஗ᤨ㑆
circuit power supply
Control circuit power ON

೙ᓮ࿁〝㔚Ḯ
supply OFF
[Pr.PF25]
Bus voltage
Უ✢㔚࿶
Undervoltage
ਇ⿷㔚࿶࡟ࡌ࡞ level
(158 (DC158V)
V DC)
ALMCALM ON
(Malfunction)
(౒ㅢ᡿㓚) OFF
WNGWNG ON
(⼊๔)
(Warning) OFF
MTTRMTTR ON
(࠲ࡈ࠼࡜ࠗࡉਛ)
(During tough drive) OFF
MBRMBR ON
(㔚⏛ࡉ࡟࡯ࠠ
(Electromagnetic
brake interlock)
ON
Baseࡌ࡯ࠬ࿁〝
circuit
OFF
7 - 25
(2) Instantaneous power failure time of the control circuit power supply < [Pr. PF25 Instantaneous power
failure tough drive - Detection time]
Operation status differs depending on how bus voltage decrease.
(a) When the bus voltage decrease lower than 158 V DC within the instantaneous power failure time of
the control circuit power supply
[AL. 10 Undervoltage] occurs when the bus voltage decrease lower than 158 V DC regardless of the
enabled instantaneous power failure tough drive.
Instantaneous power failure time of the control
೙ᓮ࿁〝㔚Ḯ⍍஗ᤨ㑆
circuit power supply

೙ᓮ࿁〝㔚Ḯ
supply OFF
[Pr.PF25]
Bus voltage
Უ✢㔚࿶
Undervoltage
ਇ⿷㔚࿶࡟ࡌ࡞level
(158 V(DC158V)
DC)
ALM CALM ON
(౒ㅢ᡿㓚)
(Malfunction) OFF
WNG WNG ON
(⼊๔)
(Warning) OFF
MTTRMTTR ON
(During(࠲ࡈ࠼࡜ࠗࡉਛ)
tough drive) OFF
MBR MBR
ON
(Electromagnetic
(㔚⏛ࡉ࡟࡯ࠠ
ࠗࡦ࠲ࡠ࠶ࠢ)
ON
Base circuit
ࡌ࡯ࠬ࿁〝
OFF
7 - 26
(b) When the bus voltage does not decrease lower than 158 V DC within the instantaneous power
failure time of the control circuit power supply
The operation continues without alarming.
Instantaneous power
೙ᓮ࿁〝㔚Ḯ
failure time of the control
circuit ⍍஗ᤨ㑆
power supply

೙ᓮ࿁〝㔚Ḯ
supply OFF
[Pr.PF25]
Bus voltage
Უ✢㔚࿶
Undervoltage
ਇ⿷㔚࿶࡟ࡌ࡞level
(158 V(DC158V)
DC)
ALM CALM ON
(Malfunction)
(౒ㅢ᡿㓚) OFF
WNG WNG ON
(⼊๔)
(Warning) OFF
MTTR MTTR ON
(During(࠲ࡈ࠼࡜ࠗࡉਛ)
tough drive) OFF
MBR MBR
ON
(Electromagnetic
(㔚⏛ࡉ࡟࡯ࠠ
ࠗࡦ࠲ࡠ࠶ࠢ)
Base circuit ON
ࡌ࡯ࠬ࿁〝
OFF
7 - 27
MEMO
7 - 28
8. TROUBLESHOOTING
8. TROUBLESHOOTING
POINT
Refer to MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)
for details of alarms and warnings.
As soon as an alarm occurs, turn SON (Servo-on) off and interrupt the power.
When an error occurs during operation, the corresponding alarm or warning is displayed. When the alarm or
the warning occurs, refer to MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting) to remove
the failure. When an alarm occurs, ALM will turn off.
To output alarm codes, set [Pr. PD34] to "_ _ _ 1". Alarm codes are outputted by on/off of bit 0 to bit 2.
Warnings ([AL. 91] to [AL. F3]) do not have alarm codes. The alarm codes in the following table will be
outputted when they occur. The alarm codes will not be outputted in normal condition.
After its cause has been removed, the alarm can be deactivated in any of the methods marked ż in the
alarm deactivation column. Warnings are automatically canceled after the cause of occurrence is removed.
For the alarms and warnings written "SD" in the stop method column, the axis stops with the dynamic brake
after forced stop deceleration. For the alarms and warnings written "DB" in the stop method column, the axis
stops with the dynamic brake without forced stop deceleration.
Table 8.1 Alarm list

Alarm code Alarm deactivation
Press
the
Stop
"SET"
CN1 CN1 CN1 Detail method Alarm button Power
No. Name Detail name
22 23 24 display (Note 2, reset on the offĺo
(Bit 2) (Bit 1) (Bit 0)
3) (RES) current n
alarm
screen
.
10.1 Voltage drop in the control power DB
Alarm
10 0 1 0 Undervoltage
10.2 Voltage drop in the main circuit power SD
12.1 RAM error 1 DB
12.2 RAM error 2 DB
12 0 0 0 Memory error 1 (RAM)
12.4 RAM error 4 DB
12.5 RAM error 5 DB
13.1 Clock error 1 DB
13 0 0 0 Clock error
13.2 Clock error 2 DB
14.1 Control process error 1 DB
14 0 0 0 Control process error
14.A Control process error 10 DB
Memory error 2 (EEP- 15.1 EEP-ROM error at power on DB
15 0 0 0
ROM) 15.2 EEP-ROM error during operation DB
8- 1
8. TROUBLESHOOTING

Press
the
Stop
"SET"
(Bit 2) (Bit 1) (Bit 0)
3) (RES) current n
alarm
screen
.
Encoder initial communication - Receive
Alarm
16.1 DB
data error 1
16.2 DB
data error 2
16.3 DB
data error 3
Encoder initial communication -
16.5 DB
Transmission data error 1
16.6 DB
16.7 DB
Encoder initial Transmission data error 3
16 1 1 0
communication error 1 Encoder initial communication - Process
16.A DB
error 1
Encoder initial communication - Process
16.B DB
error 2
16.C DB
error 3
16.D DB
error 4
16.E DB
error 5
16.F DB
error 6
17.1 Board error 1 DB
17 0 0 0 Board error 17.3 Board error 2 DB
17.4 Board error 3 DB
Memory error 3 (Flash- 19.1 Flash-ROM error 1 DB
19 0 0 0
ROM) 19.2 Flash-ROM error 2 DB
Servo motor combination
1A 1 1 0 1A.1 Servo motor combination error DB
error
Encoder initial
1E 1 1 0 1E.1 Encoder malfunction DB
communication error 2
Encoder initial
1F 1 1 0 1F.1 Incompatible encoder DB
communication error 3
Encoder normal communication - Receive
20.1 DB
data error 1
20.2 DB
data error 2
20.3 DB
data error 3
Encoder normal communication -
20.5 DB
Encoder normal Transmission data error 1
20 1 1 0
communication error 1 Encoder normal communication -
20.6 DB
Encoder normal communication -
20.7 DB
20.9 DB
data error 4
20.A DB
data error 5
8- 2
8. TROUBLESHOOTING

Press
the
Stop
"SET"
(Bit 2) (Bit 1) (Bit 0)
3) (RES) current n
alarm
screen
.
21.1 Encoder data error 1 DB
Alarm
21.2 Encoder data update error DB

Encoder normal 21.3 Encoder data waveform error DB
21 1 1 0
communication error 2 21.5 Encoder hardware error 1 DB
21.6 Encoder hardware error 2 DB
21.9 Encoder data error 2 DB
Ground fault detected by hardware
24.1 DB
detection circuit
24 1 0 0 Main circuit error
Ground fault detected by software
24.2 DB
detection function
Servo motor encoder - Absolute position
25 1 1 0 Absolute position erased 25.1 DB
erased
30.1 Regeneration heat error DB (Note (Note (Note

1) 1) 1)
Regenerative error (Note

30 0 0 1 30.2 Regeneration signal error DB (Note (Note (Note
1)
1) 1) 1)
30.3 Regeneration feedback signal error DB (Note (Note (Note

1) 1) 1)
31 1 0 1 Overspeed 31.1 Abnormal motor speed SD
Overcurrent detected at hardware
32.1 DB
detection circuit (during operation)
Overcurrent detected at software
32.2 DB
detection function (during operation)
32 1 0 0 Overcurrent
Overcurrent detected at hardware
32.3 DB
detection circuit (during a stop)
Overcurrent detected at software
32.4 DB
detection function (during a stop)
33 0 0 1 Overvoltage 33.1 Main circuit voltage error DB
35 1 0 1 Command frequency error 35.1 Command frequency error SD
37.1 Parameter setting range error DB
37 0 0 0 Parameter error
37.2 Parameter combination error DB
Inrush current suppression
3A 0 0 0 3A.1 Inrush current suppression circuit error DB
circuit error
Main circuit device

45 0 1 1 45.1 Main circuit device overheat error SD (Note (Note (Note
overheat (Note 1)
1) 1) 1)
46.1 Abnormal temperature of servo motor 1 SD (Note (Note (Note

1) 1) 1)
Servo motor overheat

46 0 1 1 46.5 Abnormal temperature of servo motor 3 DB (Note (Note (Note
(Note 1)
1) 1) 1)
46.6 Abnormal temperature of servo motor 4 DB (Note (Note (Note

1) 1) 1)
8- 3
8. TROUBLESHOOTING

Press
the
Stop
"SET"
(Bit 2) (Bit 1) (Bit 0)
3) (RES) current n
alarm
screen
.
47.1 Cooling fan stop error SD
Alarm
47 0 1 1 Cooling fan error

47.2 Cooling fan speed reduction error SD
50.1 Thermal overload error 1 during operation SD (Note (Note (Note

1) 1) 1)

1) 1) 1)

1) 1) 1)
50 0 1 1 Overload 1 (Note 1)
50.4 Thermal overload error 1 during a stop SD (Note (Note (Note

1) 1) 1)

1) 1) 1)

1) 1) 1)
51.1 Thermal overload error 3 during operation DB (Note (Note (Note

1) 1) 1)
51 0 1 1 Overload 2 (Note 1)
51.2 Thermal overload error 3 during a stop DB (Note (Note (Note

1) 1) 1)
52.1 Excess droop pulse 1 SD
52.3 Excess droop pulse 2 SD
52 1 0 1 Error excessive
52.4 Error excessive during 0 torque limit SD
52.5 Excess droop pulse 3 DB
54 0 1 1 Oscillation detection 54.1 Oscillation detection error DB
56.2 Over speed during forced stop DB
56 1 1 0 Forced stop error Estimated distance over during forced
56.3 DB
stop
63.1 STO1 off DB
63 1 1 0 STO timing error
63.2 STO2 off DB
USB communication time-
8A 0 0 0 8A.1 USB communication time-out error SD
out error
8E.1 USB communication receive error SD
8E.2 USB communication checksum error SD
8E 0 0 0 USB communication error 8E.3 USB communication character error SD
8E.4 USB communication command error SD
8E.5 USB communication data number error SD
88888 Watchdog 8888._ Watchdog SD
Note 1. Leave for about 30 minutes of cooling time after removing the cause of occurrence.
2. Stop method indicates as follows:
DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.)
SD: Forced stop deceleration
3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB using [Pr. PA04].
8- 4
8. TROUBLESHOOTING
Table 8.2 Warning list

Detail Stop method
display (Note 2, 3)
Servo amplifier overheat
Warning
91 warning 91.1 Main circuit device overheat warning

(Note 1)
Battery cable 92.1 Encoder battery cable disconnection warning
92
disconnection warning 92.3 Battery degradation
95.1 STO1 off detection DB
95 STO warning
95.2 STO2 off detection DB
96.1 In-position warning at home positioning
Home position setting
96 96.2 Command input warning at home positioning
warning
96.3 Servo off warning at home positioning
99.1 Forward rotation stroke limit off (Note 4)
99 Stroke limit warning
99.2 Reverse rotation stroke limit off (Note 4)
9F Battery warning 9F.1 Low battery
Excessive regeneration
E0 E0.1 Excessive regeneration warning
warning (Note 1)
E1.1 Thermal overload warning 1 during operation
E1 Overload warning (Note 1)
E1.5 Thermal overload error 1 during a stop
Multi-revolution counter travel distance excess
E3.1
warning
Absolute position counter
E3 E3.2 Encoder absolute positioning counter warning
warning
E3.5 Absolute position counter warning
E5.1 Time-out during ABS data transfer
E5 ABS time-out warning E5.2 ABSM off during ABS data transfer
E5.3 SON off during ABS data transfer
E6 Servo forced stop warning E6.1 Forced stop warning SD
Cooling fan speed
E8 E8.1 Decreased cooling fan speed warning
reduction warning
E9.1 Servo-on signal on during main circuit off DB
E9 Main circuit off warning
E9.2 Bus voltage drop during low speed operation DB
EA ABS servo-on warning EA.1 ABS servo-on warning
Overload warning 2 (Note
EC EC.1 Overload warning 2
1)
Output watt excess
ED ED.1 Output watt excess warning
warning
F0.1 Instantaneous power failure tough drive warning
F0 Tough drive warning
F0.3 Vibration tough drive warning
Drive recorder - Miswriting F2.1 Drive recorder - Area writing time-out warning
F2
warning F2.2 Drive recoder - Data miswriting warning
Oscillation detection
F3 F3.1 Oscillation detection warning
warning
Note 1. Leave for about 30 minutes of cooling time after removing the cause of occurrence.
2. Stop method indicates as follows:
DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.)
SD: Forced stop deceleration
3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB using [Pr. PA04].
4. Quick stop or slow stop can be selected using [Pr. PD30].
8- 5
8. TROUBLESHOOTING
MEMO
8- 6
9. OUTLINE DRAWINGS
9. OUTLINE DRAWINGS
9.1 Servo amplifier
(1) MR-J4-10A•MR-J4-20A
[Unit: mm]
40
ĳ6 mounting
ȭ6ྲྀ௜ࡅ✰ hole 6 (80) 135
6
CNP1
CNP2
161
CNP3 168
156
6
(21)
MR-BAT6V1
PE SET
6 (69.3)
(38.5)
Mass: 0.8[kg]
Mounting screw
Terminal
Screw size: M5
Tightening torque: 3.24[N•m]
CNP1 CNP2 CNP3
L1 P+ U Approx. 40
Approx. 6
L2 C V 6 2-M5 screw
L3 D W
N- L11
P3 L21
P4
Approx. 168
156 ± 0.5
PE
Screw size: M4
Tightening torque: 1.2 [N•m]
Approx. 6
Mounting hole process drawing
9- 1
9. OUTLINE DRAWINGS
(2) MR-J4-40A•MR-J4-60A
[Unit: mm]
40
ĳ6 mounting
ȭ6ྲྀ௜ࡅ✰ hole 6 80 170
6
CNP1
CNP2
161
168
CNP3
156
6
21
MR-BAT6V1
PE SET
6 69.3
38.5
Mass: 1.0[kg]
Mounting screw
Terminal
Screw size: M5
CNP1 CNP2 CNP3
L1 P+ U Approx. 40
Approx. 6
L2 C V 2-M5 screw
6
L3 D W
N- L11
P3 L21
P4
Approx. 168
156 ± 0.5
PE Screw size: M4
Approx. 6
9- 2
9. OUTLINE DRAWINGS
(3) MR-J4-70A•MR-J4-100A
[༢఩: mm]
60
ĳ6 mounting hole 12 80 185
ȭ6ྲྀ௜ࡅ✰
Exhaust
᤼Ẽ
6
CNP1
CNP2
161
168
CNP3
156
6
PE (21) MR-BAT6V1 Cooling

෭༷ࣇ࢓ࣥ྾Ẽ fan
6 SET air intake
(38.5) 69.3
12 42
Mass: 1.4[kg]
Mounting screw
Terminal
Screw size: M5
CNP1 CNP2 CNP3
Approx. 6
L1 P+ U
L2 C V Approx. 60
L3 D W
N- L11
P3 L21
P4
Approx. 168
156 ± 0.5
PE
Screw size: M4 3-M5 screw
Approx. 6
Approx. 12 42 ± 0.3 Approx. 6
9- 3
9. OUTLINE DRAWINGS
(4) MR-J4-200A
[Unit: mm]
90
85
ĳ6 mounting
ȭ6ྲྀ௜ࡅ✰ hole 45 (80) 195
Exhaust
᤼Ẽ
6
CNP1
CNP2
161
156
168
CNP3
6
PE MR-BAT6V1
(21) SET ෭༷ࣇ࢓ࣥ྾Ẽ
Cooling fan
6 (38.5) (69.3) air intake
6 78 6
Mass: 2.1[kg]
Mounting screw
Terminal
Screw size: M5
CNP1 CNP2 CNP3
Approx. 6
L1 P+ U
L2 C V Approx. 90
L3 D W
N- L11
P3 L21
P4
Approx. 168
156 ± 0.5
3-M5 screw
PE Screw size: M4
Approx. 6
9- 4
9. OUTLINE DRAWINGS
(5) MR-J4-350A
[Unit: mm]
90
85
ĳ6 mounting
ྲྀ௜ࡅ✰ hole 45 (80) 195
Exhaust
᤼Ẽ
6 CNP1
161
CNP3
156
168
CNP2
6
PE MR-BAT6V1
(21)
SET⿦╔᫬ Cooling fan
෭༷ࣇ࢓ࣥ྾Ẽ
6 (38.5) (69.3) air intake
6 78 6
Mass: 2.3[kg]
Mounting screw
Terminal
Screw size: M5
CNP1 CNP2 CNP3
Approx. 6
L1 P+ U
L2 C V Approx. 90
L3 D W
N- L11
6
P3 L21 (R
)
P4
Approx. 168
156 ± 0.5
10
˳13 hole
3-M5 screw
PE Mounting hole
Screw size: M4 dimensions
Approx. 6

9- 5
9. OUTLINE DRAWINGS
(6) MR-J4-500A
[Unit: mm]
105 (80) 200

2-ĳ6 2-ȭ6ྲྀ௜ࡅ✰
mounting hole 6 93 6 28 6
Cooling fan
7.5
exhaust
෭༷ࣇ࢓ࣥ᤼Ẽ
TE2
TE1
250
235
TE3
TE4
MR-BAT6V1
SET
6 Air intake
྾Ẽ PE
7.5
Mass: 4.6[kg]
Mounting screw
Terminal
Screw size M5
TE2 L11 TE2 Screw size: M3.5 Tightening torque: 3.24[N•m]
L21
Approx. 105
TE1 L1 TE1 Screw size: M4 Approx. 6 93 ± 0.5 Approx. 6
L2
Approx. 7.5
L3
N-
4-M5 screw
TE3 P3 TE3 Screw size: M4
P4
P+
C
Approx. 250
235 ± 0.5
TE4 D TE4 Screw size: M4

U
V PE PE Screw size: M4
W Tightening torque: 1.2 [N•m]
Approx. 7.5
9- 6
9. OUTLINE DRAWINGS
(7) MR-J4-700A
[Unit: mm]
172 (80) 200

6 160 6 28 6
2-ĳ6 mounting hole Cooling fan
2-ȭ6ྲྀ௜ࡅ✰
7.5
exhaust
෭༷ࣇ࢓ࣥ᤼Ẽ
300
285
MR-BAT6V1
SET TE3
TE1
TE2
Air intake
྾Ẽ PE
7.5
Mass: 6.2[kg]
Mounting screw
Terminal
Screw size: M5
TE3 N- P3 P4 Tightening torque: 3.24[N•m]
Approx. 172
TE1 L1 L2 L3 P+ C U V W TE2 L11 L21
Approx. 7.5
4-M5 screw
PE
TE3 Screw size: M4
TE1 Screw size: M4

Approx. 300
285 ± 0.5
TE2 Screw size: M3.5

PE Screw size: M4
Approx. 7.5
9- 7
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10. CHARACTERISTICS
10. CHARACTERISTICS
10.1 Overload protection characteristics
An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo
motor power wires from overloads.
[AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve
shown in fig. 10.1 [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several
seconds due to machine collision, etc. Use the equipment on the left-hand side area of the continuous or
broken line in the graph.
When unbalanced torque is generated, such as in a vertical lift machine, it is recommended that the
unbalanced torque of the machine be kept at 70% or less of the motor's rated torque.
This servo amplifier has solid-state servo motor overload protection. (The servo motor overload current (full
load current) is set on the basis of 120% rated current of the servo amplifier.)
10 - 1
10. CHARACTERISTICS
1000 1000
Operating Operating
100 100
Operation time [s]
Operation time [s]

Servo-lock Servo-lock
10 10
1 1
0.1 0.1
0 50 100 150 200 250 300 350 0 50 100 150 200 250 300 350
(Note 1, 2) Load ratio [%] (Note 1, 2) Load ratio [%]
HG-KR053, HG-KR13 HG-KR23, HG-KR43, HG-KR73

HG-MR053㧘HG-MR13 HG-MR23, HG-MR43, HG-MR73
HG-SR51, HG-SR81, HG-SR52, HG-SR102
1000 10000
Operating
ㆇォᤨ
100 1000
Operation time [s]
Operation time [s]
૞ ૞ Operating
ㆇォᤨ
േ Servo-lock
ࠨ࡯ࡏࡠ࠶ࠢᤨ േ Servo-lock
ࠨ࡯ࡏࡠ࠶ࠢᤨ
ᤨ 10 ᤨ 100
㑆㑆
[s] [s]
1 10
0.1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
(Note 1) Load ratio [%]
(ᵈ1) ⽶⩄₸[%] (Note
(ᵈ)1) Load ratio [%]
⽶⩄₸[%]
HG-SR121㧘HG-SR201㧘HG-SR152㧘HG-SR202㧘 HG-SR421㧘HG-SR502㧘HG-SR702
HG-SR301㧘HG-SR352
Note 1. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo
motor stop status (servo-lock status) or in a 30 r/min or less low-speed operation status, the servo amplifier may malfunction
2. regardless of the electronic thermal protection.
The load ratio ranging from 300 % to 350 % applies to the HG-KR servo motor.
Fig. 10.1 Electronic thermal protection characteristics
10 - 2
10. CHARACTERISTICS
10.2 Power supply capacity and generated loss
(1) Amount of heat generated by the servo amplifier

Table 10.1 indicates servo amplifiers' power supply capacities and losses generated under rated load.
For thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst
operating conditions. The actual amount of generated heat will be intermediate between values at rated
torque and servo-off according to the duty used during operation. When the servo motor is run at less
than the rated speed, the power supply capacity will be smaller than the value in the table, but the servo
amplifier's generated heat will not change.
Table 10.1 Power supply capacity and generated loss per servo motor at rated output
(Note 1) (Note 2) Servo amplifier-
Area required
Power supply generated heat [W]
Servo amplifier Servo motor for heat
capacity 2
At rated output With servo-off dissipation [m ]
[kVA]
HG-MR053 03 25 15 05
MR-J4-10A HG-MR13 0.3 25 15 0.5
HG-KR053/13 0.3 25 15 0.5
HG-MR23 0.5 25 15 0.5
MR-J4-20A
HG-KR23 0.5 25 15 0.5
HG-MR43 0.9 35 15 0.7
MR-J4-40A
HG-KR43 0.9 35 15 0.7
HG-SR52 1.0 40 15 0.8
MR-J4-60A
HG-SR51 1.0 40 15 0.8
HG-MR73 1.3 50 15 1.0
MR-J4-70A
HG-KR73 1.3 50 15 1.0
HG-SR102 1.7 50 15 1.0
MR-J4-100A
HG-SR81 1.5 50 15 1.0
HG-SR152 2.5 90 20 1.8
HG-SR202 3.5 90 20 1.8
MR-J4-200A
HG-SR121 2.1 90 20 1.8
HG-SR201 3.5 90 20 1.8
HG-SR352 5.5 130 20 2.6
MR-J4-350A
HG-SR301 4.8 120 20 2.4
HG-SR502 7.5 195 25 3.9
MR-J4-500A
HG-SR421 6.3 160 25 3.2
MR-J4-700A HG-SR702 10 300 25 6.0
Note 1. Note that the power supply capacity will vary according to the power supply impedance. This value is applicable when
the power factor improving AC reactor or power factor improving DC reactor are not used.
2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat generated by
the regenerative option, refer to section 11.2.
10 - 3
10. CHARACTERISTICS
(2) Heat dissipation area for an enclosed type cabinet

The enclosed type cabinet (hereafter called the cabinet) which will contain the servo amplifier should be
designed to ensure that its temperature rise is within +10 ÛC at the ambient temperature of 40 ÛC. (With
an approximately 5 ÛC safety margin, the system should operate within a maximum 55 ÛC limit.) The
necessary cabinet heat dissipation area can be calculated by equation 10.1.
P
A= ·········································································································································· (10.1)
K • ˂T
A : Heat dissipation area [m2]

P : Loss generated in the cabinet [W]
ǻT : Difference between internal and ambient temperatures [ÛC]
K : Heat dissipation coefficient [5 to 6]
When calculating the heat dissipation area with equation 10.1, assume that P is the sum of all losses
generated in the cabinet. Refer to table 10.1 for heat generated by the servo amplifier. "A" indicates the
effective area for heat dissipation, but if the cabinet is directly installed on an insulated wall, that extra
amount must be added to the cabinet's surface area. The required heat dissipation area will vary with
the conditions in the cabinet. If convection in the cabinet is poor and heat builds up, effective heat
dissipation will not be possible. Therefore, arrangement of the equipment in the cabinet and the use of a
cooling fan should be considered. Table 10.1 lists the cabinet dissipation area for each servo amplifier
(guideline) when the servo amplifier is operated at the ambient temperature of 40 ÛC under rated load.
(Outside the cabinet) (Inside the cabinet)
Air flow
Fig. 10.2 Temperature distribution in an enclosed type cabinet
When air flows along the outer wall of the cabinet, effective heat exchange will be possible, because the
temperature slope inside and outside the cabinet will be steeper.
10 - 4
10. CHARACTERISTICS
10.3 Dynamic brake characteristics
POINT
Do not use dynamic brake to stop in a normal operation as it is the function to
stop in emergency.
For a machine operating at the recommended load to motor inertia ratio or less,
the estimated number of usage times of the dynamic brake is 1000 times while
the machine decelerates from the rated speed to a stop once in 10 minutes.
Be sure to make EM1 (Forced stop) valid after servo motor stops when using
EM1 (Forced stop) frequently in other than emergency.
Servo motors for MR-J4 may have the different coasting distance from that of
the previous model.
10.3.1 Dynamic brake operation
(1) Calculation of coasting distance

Fig. 10.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is
operated. Use equation 10.2 to calculate an approximate coasting distance to a stop. The dynamic
brake time constant Ĳ varies with the servo motor and machine operation speeds. (Refer to (2)(a), (b) of
this section.)
A working part generally has a friction force. Therefore, actual coasting distance will be shorter than a
maximum coasting distance calculated with the following equation.
ON
EM1 (Forced stop)
OFF
Dynamic brake
time constant ˱
V0
Machine speed
te Time
Fig. 10.3 Dynamic brake operation diagram
V0 JL
Lmax = • te + 1+ ··············································································································· (10.2)
60 JM
Lmax : Maximum coasting distance ······································································································· [mm]

V0 : Machine's fast feed speed ···································································································[mm/min]
JM : Moment of inertia of the servo motor·····················································································[kg•cm2]
JL : Load moment of inertia converted into equivalent value on servo motor shaft·····················[kg•cm2]
Ĳ : Dynamic brake time constant ········································································································· [s]
te : Delay time of control section··········································································································· [s]
For 7 kW or lower servo, there is internal relay delay time of about 10 ms.
10 - 5
10. CHARACTERISTICS
(2) Dynamic brake time constant

The following shows necessary dynamic brake time constant Ĳ for equation 10.2.
50 50
Time constant Ĳ [ms]

40 40

ᤨ ᤨ
ቯ 30 73 ቯ 30 73 43
ᢙ 43 ᢙ
Ǽ 20 Ǽ 20
[ms] [ms] 23
23
10 053 10 053
13 13
0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
࿁ォㅦᐲ[r/min]
Speed [r/min] ࿁ォㅦᐲ[r/min]
Speed [r/min]
HG-MR series HG-KR series

100 350
300

80
ᤨ ᤨ 250
ቯ 60 51 81 ቯ 200 102
ᢙ ᢙ 52
Ǽ 40 Ǽ 150 352
[ms] 121 [ms] 100
201 152 502
20 202
50
421 301 702
0 0
0 250 500 750 1000 1250 1500 0 500 1000 1500 2000 2500 3000
࿁ォㅦᐲ[r/min]
Speed [r/min] Speed [r/min]
࿁ォㅦᐲ[r/min]
HG-SR1000 r/min series HG-SR2000 r/min series
10.3.2 Permissible load to motor inertia when the dynamic brake is used
Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the load inertia
moment is higher than this value, the dynamic brake may burn. If the load to motor inertia ratio exceeds the
indicated value, contact your local sales office.
The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation
speed of the servo motor.
Servo Servo motor
amplifier HG-KR_ HG-MR_ HG-SR_1 HG-SR_2
HG-MR053: 35
MR-J4-10B 30
HG-MR13: 32
MR-J4-20B 30 32
MR-J4-40B 30 32
MR-J4-60B 30 30
MR-J4-70B 30 32
MR-J4-100B 30 30
MR-J4-200B 30 21
MR-J4-350B 16 13 (Note)
MR-J4-500B 15 13 (Note)
MR-J4-700B 5 (Note)
Note. The permissible load to motor inertia ratio is 15 at the rated rotation speed.
10 - 6
10. CHARACTERISTICS
10.4 Cable bending life
The bending life of the cables is shown below. This graph calculated values. Since they are not guaranteed
values, provide a little allowance for these values.
1 × 108 a
5 × 107
1 × 107
5 × 106 a: Long flex life encoder cable
Number of flexing times [time]
Long flex life motor power cable

Long flex life electromagnetic brake cable
SSCNET III cable using long distance cable
1 × 106
5 × 105
b: Standard encoder cable
Standard motor power cable
Standard electromagnetic brake cable
1 × 105 SSCNET III cable using inside panel standard cord
5 × 104 SSCNET III cable using outside panel standard cable
1 × 104 b
5 × 103
1 × 103
4 7 10 20 40 70 100 200
Bend radius [mm]
10.5 Inrush currents at power-on of main circuit and control circuit
The following table indicates the inrush currents (reference data) that will flow when 240 V AC is applied at
the power supply capacity of 2500 kVA and the wiring length of 1 m.
Inrush currents (A0-P)
Servo amplifier Main circuit power supply (L1, L2, and Control circuit power supply (L11 and
L3) L21)
MR-J4-10A, MR-J4-20A, 30 A (attenuated to approx. 3 A in 20
MR-J4-40A, MR-J4-60A ms)
34 A (attenuated to approx. 7 A in 20 20 A to 30 A (attenuated to approx. 1 A
MR-J4-70A, MR-J4-100A
ms) in 20 ms)
113 A (attenuated to approx. 12 A in 20
MR-J4-200A, MR-J4-350A
ms)
42 A (attenuated to approx. 20 A in 20
MR-J4-500A
ms) 34 A (attenuated to approx. 2 A in 20
85 A (attenuated to approx. 20 A in 30 ms)
MR-J4-700A
ms)
Since large inrush currents flow in the power supplies, always use molded case circuit breakers and
magnetic contactors. (Refer to section 11.10.)
When circuit protectors are used, it is recommended that the inertia delay type, which is not tripped by an
inrush current, be used.
10 - 7
10. CHARACTERISTICS
MEMO
10 - 8
11. OPTIONS AND AUXILIARY EQUIPMENT
Before connecting any option or peripheral equipment, turn off the power and wait
for 15 minutes or more until the charge lamp turns off. Then, confirm that the
WARNING voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an
electric shock may occur. In addition, when confirming whether the charge lamp is
off or not, always confirm it from the front of the servo amplifier.
Use the specified auxiliary equipment and options to prevent a malfunction or a

Cautions fire.
11.1 Cable/connector sets
POINT
The IP rating indicated is the cable's or connector's protection against ingress of
dust and water when the cable or connector is connected to a servo amplifier or
servo motor. If the IP rating of the cable, connector, servo amplifier and servo
motor vary, the overall IP rating depends on the lowest IP rating of all
components.
Purchase the cable and connector options indicated in this section.
11 - 1
11.1.1 Combinations of cable/connector sets

4)
Operation 3)
᧯స┙
panel Personal
ࣃ࣮ࢯࢼࣝ
computer
ࢥࣥࣆ࣮ࣗࢱ
2) Servo
amplifier
ࢧ࣮࣎࢔ࣥࣉ 5)
Controller
ࢥࣥࢺ࣮ࣟࣛ
1)
1) (ࢧ࣮࣎࢔ࣥࣉ௜ᒓရ)
(Packed with the servo amplifier)
CN5
CN6
(Note 1)
(ὀ1)
CNP1 Safety logic unit
ࢭ࣮ࣇࢸ࢕ࣟࢪࢵࢡࣘࢽࢵࢺ
CN3 MR-J3-D05
CN9
CN8 7)
CNP2 CN10
CN1
CNP3
CN2
CN4
Refer to the Servo Motor Instruction Manual (Vol. 3) for options for servo
ࢧ࣮࣮࣎ࣔࢱ㟁※⏝࢜ࣉࢩࣙࣥ㸪㟁☢ࣈ࣮ࣞ࢟⏝࢜ࣉࢩࣙࣥ㸪࢚ࣥࢥ࣮
ࢲ⏝࢜ࣉࢩࣙࣥ࡟ࡘ࠸࡚ࡣ㸪ࢧ࣮࣮࣎ࣔࢱᢏ⾡㈨ᩱ㞟(➨3㞟)ࢆཧ↷ࡋ࡚
motor power supply, electromagnetic brake, and encoder.
ࡃࡔࡉ࠸ࠋ
Battery To 24 V DC power supply for

㟁☢ࣈ࣮ࣞ࢟⏝
ࣂࢵࢸࣜ
DC24V㟁※࡬
electromagnetic brake Servo motor
ࢧ࣮࣮࣎ࣔࢱ
Power㟁※
supply ࣈ࣮ࣞ࢟
Brake Encoder
࢚ࣥࢥ࣮ࢲ
connector
ࢥࢿࢡࢱ connector connector
ࢥࢿࢡࢱ ࢥࢿࢡࢱ
Note 1. Connectors for 3.5 kW or less. For 5 kW or more, it is a terminal block.

2. When not using the STO function, attach a short-circuit connector (8)) supplied with a servo amplifier.
11 - 2
No. Name Model Description Applicatio

n
1) Servo amplifier Supplied
power connector with servo
set amplifiers
of 1 kW or
less.
CNP1 CNP2 CNP3
Connector: Connector: Connector:
06JFAT-SAXGDK-H7.5 05JFAT-SAXGDK-H5.0 03JFAT-SAXGDK-H7.5
(JST) (JST) (JST)
2 2
Applicable wire size: 0.8 mm to 2.1 mm
(AWG 18 to 14)
Insulator OD: to 3.9 mm Open tool
J-FAT-OT
(JST)
Supplied
with servo
amplifiers
of 2 kW
CNP1 CNP2 CNP3 and 3.5
Connector: Connector: Connector: kW.
06JFAT-SAXGFK-XL 05JFAT-SAXGDK-H5.0 03JFAT-SAXGFK-XL
(JST) (JST) (JST)
CNP3 CNP2
Applicable wire size: Applicable wire size:
2 2 2 2
1.25 mm to 5.5 mm 0.8 mm to 2.1 mm
(AWG 16 to 10) (AWG 18 to 14) Open tool
Insulator OD: to 4.7 Insulator OD: to 3.9 J-FAT-OT-EXL
mm mm (JST)
2) Junction terminal MR-J2M- Junction terminal block connector CN1 connector For
block cable CN1TBL_M Connector: D7950-B500FL Connector: 10150-6000EL junction
Cable length: 0.5 (3M) Shell kit: 10350-3210-000 terminal
m, 1 m (3M or equivalent) block
(Refer to section connectio
11.6.) n
3) CN1 connector MR-J3CN1 Connector: 10150-3000PE

set Shell kit: 10350-52F0-008
(3M or equivalent)
4) Junction terminal MR-TB50 Refer to section 11.6.
block
5) USB cable MR-J3USBCBL3M CN5 connector Personal computer connector For
Cable length: 3 m mini-B connector (5 pins) A connector connection
with PC-AT
compatible
personal
computer
6) Monitor cable MR-J3CN6CBL1M CN6 connector
Cable length: 1 m (Red) Housing: 51004-0300
㉥
(White)
ⓑ
Terminal: 50011-8100
(Black)
㯮
(Molex)
7) STO cable MR-D05UDL3M-B Connector set: 2069250-1 Connection
(TE Connectivity) cable for
the CN8
connector
8) Short-circuit Supplied
connector with servo
amplifier
11 - 3
11.1.2 MR-D05UDL3M-B STO cable
This cable is for connecting an external device to the CN8 connector.

Cable model Cable length Application
MR-D05UDL3M-B 3m Connection cable for the CN8 connector
(1) Configuration diagram

Servo amplifier
MR-D05UDL3M-B
CN8
(2) Internal wiring diagram

CN8 connector
1
(Note)
2 2 4 6 8
Yellow (with black dots)
3 STOCOM 1 3 5 7
Yellow (with red dots)
4 STO1
Gray (with black dots)
5 STO2 View seen from the connector
Gray (with red dots) connection paert
6 TOFB1
White (with black dots)
7 TOFB2
White (with red dots)
8 TOFCOM
Plate Shield
Note. Do not use the two core wires with orange sheath (with red or black dots).
11 - 4
11.2 Regenerative options
Do not use servo amplifiers with regenerative options other than the combinations
Cautions specified below.
Otherwise, it may cause a fire.
11.2.1 Combination and regenerative power
The power values in the table are resistor-generated powers and not rated powers.
Regenerative Power
[W]
Servo Built-in (Note) (Note) (Note)
amplifier regenerati MR-RB032 MR-RB12 MR-RB30 MR-RB3N MR-RB31 MR-RB32
MR-RB50 MR-RB5N MR-RB51
ve [40 ȍ] [40 ȍ] [13 ȍ] [9 ȍ] [6.7 ȍ] [40 ȍ]
[13 ȍ] [9 ȍ] [6.7 ȍ]
resistor
MR-J4-10A 30
MR-J4-20A 10 30 100
MR-J4-40A 10 30 100
MR-J4-60A 10 30 100
MR-J4-70A 20 30 100 300
MR-J4-100A 20 30 100 300
MR-J4-200A 100 300 500
MR-J4-350A 100 300 500
MR-J4-500A 130 300 500
MR-J4-700A 170 300 500
Note. Always install a cooling fan.
11 - 5
11.2.2 Selection of regenerative option
(1) Rotary servo motor:

Use the following method when regeneration occurs continuously in vertical motion applications or when
it is desired to make an in-depth selection of the regenerative option.
(a) Regenerative energy calculation

tf (1 cycle)
Servo motor speed

V
Up
Time
Down
Unbalance torque
M t1 t2 t3 t4
Tpsa1 Tpsd1 Tpsa2 Tpsd2
Friction
torque 1)
(+)
(Power running)
Generated torque
2) 4) 8)
TF 5)
TU 6)
3)
(Regenerative) 7)
(-)
Formulas for calculating torque and energy in operation

Regenerative
Torque applied to servo motor [N•m] Energy E [J]
power
(JL + JM) • V 1 0.1047
1) T1 = • + TU + TF E1 = • V • T1 • tpsa1
9.55 • 104 tpsa1 2
2) T2 = TU + TF E2 = 0.1047 • V • T2 • t1
-(JL + JM) • V 1 0.1047
3) T3 = • + TU + TF E3 = • V • T3 • tpsa2
9.55 • 104 tpsa2 2
4), 8) T4, T8 = TU E4, E8 = 0 (No regeneration)
(JL + JM) • V 1 0.1047
5) T5 = • - TU + TF E5 = • V • T5 • tpsd2
9.55 • 104 tpsd2 2
6) T6 = -TU + TF E6 = 0.1047 • V • T6 • t3
-(JL + JM) • V 1 0.1047
7) T7 = • - TU + TF E7 = • V • T7 • tpsd2
9.55 • 104 tpsd2 2
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative
energies.
11 - 6
(b) Losses of servo motor and servo amplifier in regenerative mode

The following table lists the efficiencies and other data of the servo motor and servo amplifier in the
regenerative mode.
Inverse Inverse
Servo amplifier C charge [J] Servo amplifier C charge [J]
efficiency [%] efficiency [%]
MR-J4-10A 55 9 MR-J4-100A 85 18
MR-J4-20A 75 9 MR-J4-200A 85 36
MR-J4-40A 85 11 MR-J4-350A 85 40
MR-J4-60A 85 11 MR-J4-500A 90 45
MR-J4-70A 85 18 MR-J4-700A 90 70
Inverse efficiency (Ș): Efficiency including some efficiencies of the servo motor and servo amplifier
when rated (regenerative) torque is generated at rated speed. Since the efficiency varies
with the speed and generated torque, allow for about 10%.
Capacitor charging (Ec): Energy charged into the electrolytic capacitor in the servo amplifier
Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies
by the inverse efficiency to calculate the energy consumed by the regenerative option.
ER[J] = Ș • Es - Ec
Calculate the power consumption of the regenerative option on the basis of single-cycle operation
period tf [s] to select the necessary regenerative option.
PR[W] = ER/tf
11 - 7
Set [Pr. PA02] according to the option to be used.

[Pr. PA02]
0 0
Selection of regenerative option
00: Regenerative option is not used.
For servo amplifier of 100 W, regenerative resistor is not used.
For servo amplifier of 0.2 kW to 7 kW, built-in regenerative
resistor is used.
01: FR-BU2/FR-RC/FR-CV
02: MR-RB032
03: MR-RB12
04: MR-RB32
05: MR-RB30
06: MR-RB50 (Cooling fan is reuired)
08: MR-RB31
09: MR-RB51 (Cooling fan is reuired)
0B: MR-RB3N
0C: MR-RB5N (Cooling fan is reuired)
11.2.4 Connection of regenerative option
POINT
When the MR-RB50, MR-RB51, or MR-RB5N is used, a cooling fan is required
to cool it. The cooling fan should be prepared by the customer.
For the sizes of wires used for wiring, refer to section 11.9.
The regenerative option generates heat of 100 ÛC higher than the ambient temperature. Fully consider heat
dissipation, installation position, used wires, etc. to place the option. For wiring, use flame-resistant wires or
make the wires flame-resistant and keep them away from the regenerative option. Always use twisted cables
of max. 5 m length for connection with the servo amplifier.
11 - 8

Always remove the wiring from across P+ - D and fit the regenerative option across P+ - C. G3 and G4
are thermal sensor's terminals. Between G3 and G4 is opened when the regenerative option overheats
abnormally.
Always remove the lead from across P+ - D.
Servo amplifier Regenerative option
P
P+
C
C
G3
D
(Note 3) G4
5 m or less
(Note 1, 2)
Cooling fan
Note 1. When using the MR-RB50, or MR-RB5N, forcibly cool it with a cooling fan (92 mm
3
× 92 mm, minimum air flow: 1.0 m ).
2. When the ambient temperature is more than 55 °C and the regenerative load ratio
is more than 60% in MR-RB30, MR-RB-31, MR-RB32 and MR-RB3N, forcefully
3
cool the air with a cooling fan (1.0 m /min or more, 92 mm × 92 mm). A cooling
fan is not required if the ambient temperature is 35 °C or less. (A cooling fan is
required for the shaded area in the following graph.)
A cooling fan is required.
100
Load ratio [%]
60
A cooling fan is
not required.
0
0 35 55
Ambient temperature [°C]
3. Make up a sequence which will switch off the magnetic contactor when abnormal
heating occurs.
G3-G4 contact specifications
Maximum voltage: 120 V AC/DC
Maximum current: 0.5 A/4.8 V DC
Maximum capacity: 2.4 VA
11 - 9
(2) MR-J4-700A
Always remove the wiring (across P+ - C) of the servo amplifier built-in regenerative resistor and fit the
regenerative option across P+ - C. G3 and G4 are thermal sensor's terminals. Between G3 and G4 is
opened when the regenerative option overheats abnormally.
Always remove wiring (across P+ - C) of servo
amplifier built-in regenerative resistor.
Servo amplifier Regenerative option
P
P+
C
C
G3
(Note2) G4
5 m or less
(Note1)
Cooling fan
Note 1. When using the MR-RB51, forcibly cool it with a cooling fan (92 mm × 92 mm,
3
minimum air flow: 1.0 m ).
2. Make up a sequence which will switch off the magnetic contactor when abnormal
heating occurs.
G3-G4 contact specifications
Maximum voltage: 120 V AC/DC
Maximum current: 0.5 A/4.8 V DC
Maximum capacity: 2.4 VA
When using the regenerative option, remove the servo amplifier's built-in regenerative resistor wires
(across P+ - C), fit them back to back, and secure them to the frame with the accessory screw as shown
below.
Accessory screw
11 - 10
built-in ෆⶶᅇ⏕᢬ᢠჾ
regenerative resistor lead
terminal࣮ࣜࢻ➃Ꮚᅛᐃ⏝ࡡࡌ
fixing screw
11 - 11
11.2.5 Dimensions
(1) MR-RB12
[Unit: mm]
TE1 terminal block
G3
40 G4
Approx. 6
36 P
15 C
2 2
Applicable wire size: 0.2 mm to 2.5 mm (AWG14 to
12)
Tightening torque: 0.5 to 0.6 [N•m]
5 Mounting screw
156
168
144
Screw size: M5
TE1 Tightening torque: 3.24 [N•m]
Mass: 1.1 [kg]

12
6
6 2
Approx. 20 149
169
(2) MR-RB30/MR-RB31/MR-RB32/MR-RB3N
[Unit: mm]
Terminal block
Cooling fan mounting
screw (2-M4 screw) P
8.5
C
G3
125
82.5
150
142
G4
Terminal screw size: M4

30

7
8.5
101.5 82.5
10 90 17 318
100 Mounting screw
335
Screw size: M5
Approx. 30
Air intake Tightening torque: 5.4 [N•m]
Mass: 2.9 [kg]

79
11 - 12
(3) MR-RB50/MR-RB51/MR-RB5N
[Unit: mm]
Terminal block
Cooling fan mounting
screw (2-M3 screw) P
On opposite side
7 × 14 C
12.5
49 82.5 slotted hole
G3
G4
Terminal screw size: M4

162.5 Tightening torque: 1.2 [N•m]
Mounting screw
Air Screw size: M5
82.5
350
intake Tightening torque: 5.4 [N•m]
Mass: 5.6 [kg]

162.5
133
2.3 7
12.5
200 17 12 108 Approx. 30

217 120 8
(4) MR-RB032
[Unit: mm]
TE1 terminal block
30 G3
Approx. 12
Approx. 6
15 G4
P
C
2 2
Applicable wire size: 0.2 mm to 2.5 mm (AWG24 to
12)
5
156
168
144
Mounting screw
Screw size: M5
TE1
Mass: 0.5 [kg]
12
6 1.6
6
Approx. 20 99
119
11 - 13
11.3 FR-BU2 Brake unit
POINT
When a brake unit and a resistor unit are installed horizontally or diagonally, the
heat dissipation effect diminishes. Install them on a flat surface vertically.
Temperature of the resistor unit case rises to higher than +100 ÛC. Keep cables
and flammable materials away from the case.
Ambient temperature condition of the brake unit is between -10 ÛC to 50 ÛC.
Note that the condition is different from the ambient temperature condition of the
servo amplifier (between 0 ÛC and 55 ÛC).
Configure the circuit to shut down the power-supply with the alarm output of the
brake unit and the resistor unit under abnormal condition.
Use the brake unit with a combination indicated in section 11.3.1.
For executing a continuous regenerative operation, use FR-RC power
regenerative converter or FR-CV power regenerative common converter.
Brake unit and regenerative options (Regenerative resistor) cannot be used
simultaneously.
Connect the brake unit to the bus of the servo amplifier. As compared to the MR-RB regenerative option, the
brake unit can return larger power. Use the brake unit when the regenerative option cannot provide sufficient
regenerative capability.
When using the brake unit, set [Pr. PA02] of the servo amplifier to "_ _ 0 1".
When using the brake unit, always refer to the FR-BU2-(H) Brake Unit Instruction Manual.
11.3.1 Selection
Use a combination of servo amplifier, brake unit and resistor unit listed below.
Number of Permissible
Resultant Applicable servo
Brake unit Resistor unit connected continuous
resistance [ȍ] amplifier
units power [kW]
200 V FR-BU2-15K FR-BR-15K 2 (parallel) 1.98 4 MR-J4-500A
class MR-J4-700A
FR-BU2-30K FR-BR-30K 1 1.99 4 MR-J4-500A
MR-J4-700A
11.3.2 Brake unit parameter setting
Whether a parameter can be changed or not is listed below.

Parameter Change
possible/impo Remarks
No. Name
ssible
0 Brake mode switchover Impossible Do not change the parameter
1 Monitor display data selection Possible Refer to the FR-BU2-(H) Brake Unit
Instruction Manual.
2 Input terminal function selection 1 Impossible Do not change the parameter
3 Input terminal function selection 2
77 Parameter write selection
Cumulative energization time
78
carrying-over times
CLr Parameter clear
ECL Alarm history clear
C1 For manufacturer setting
11 - 14
11.3.3 Connection example
POINT
EM2 has the same signal as EM1 in the torque control mode.
Connecting PR terminal of the brake unit to P+ terminal of the servo amplifier
results in brake unit malfunction. Always connect the PR terminal of the brake
unit to the PR terminal of the resistor unit.
(1) Combination with FR-BR resistor unit

(a) When connecting a brake unit to a servo amplifier
ALM
RA1 OFF
࢜ࣇ ON
࢜ࣥ
MC
MC
Emergency stop switch SK
㠀ᖖ೵Ṇࢫ࢖ࢵࢳ
Servo amplifier
ࢧ࣮࣎࢔ࣥࣉ
(Note
(ὀ9)9) CN1
MCCB MC
L1 21 DICOM
(Note 1)
(ὀ1)
L2
Power supply
㟁※
48 ALM RA1
L3
L11 20 DICOM
DC24V
24 V DC
L21
(Note 11)
(ὀ11) 46 DOCOM
୺ᅇ㊰㟁※
42 EM2
(Note 10)
(ὀ10)
15 SON FR-BR
(Note 5)
(ὀ5) TH1
Plate
ࣉ࣮ࣞࢺ SD P
TH2
PR
P3
(Note
(ὀ3) 3) FR-BU2
P4
PR MSG
P+ P/+ (Note 4) SD
(ὀ4) A
(Note
(ὀ7)7) N/-
B
N-
C
C BUE
(ὀ8)8) (Note
(Note (ὀ6)6)
SD
(Note
(ὀ2) 2)

2. For the servo amplifier of 7 kW, always disconnect the lead wire of built-in regenerative resistor, which is connected to the P+
and C terminals.
3. Always connect between P3 and P4 terminals. (factory-wired) Use either the power factor improving DC reactor or the power
factor improving AC reactor. When using the power factor improving DC reactor, refer to section 11.11.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in servo
amplifier and brake unit malfunction.
5. Contact rating: 1b contact, 110 V AC_5 A/220 V AC_3 A
Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting.
6. Contact rating: 230 V AC_0.3 A/30 V DC_0.3 A
Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting.
7. Do not connect more than one cable to each P+ to N- terminals of the servo amplifier.
8. Always connect BUE and SD terminals. (factory-wired)
amplifier.
11 - 15
(b) When connecting two brake units to a servo amplifier
POINT
To use brake units with a parallel connection, use two sets of FR-BU2 brake
unit. Combination with other brake unit results in alarm occurrence or
malfunction.
Always connect the terminals for master/slave (MSG to MSG, SD to SD)
between the two brake units.
Do not connect the converter unit and brake units as below. Connect the cables
with a terminal block to distribute as indicated in this section.
Servo amplifier Brake unit Servo amplifier Brake unit
P+ P/+ P+ P/+
N- N/- N- N/-
Brake unit Brake unit

P/+ P/+
N/- N/-
Connecting two cables to P+ and N- Passing wiring

terminals
11 - 16
ALM
RA1 OFF
࢜ࣇ
ON
࢜ࣥ
MC
MC
SK
Emergency
㠀ᖖ೵Ṇࢫ࢖ࢵࢳ stop switch
Servo amplifier
ࢧ࣮࣎࢔ࣥࣉ
(Note
(ὀ11)11)
MCCB MC CN1
L1 21 DICOM
(Note (1)
ὀ1)
Power supply
㟁※ L2
L3 48 ALM RA1
L11 20 DICOM
DC24V
24 V DC
L21
(Note 13)
(ὀ13) 46 DOCOM
୺ᅇ㊰㟁※
42 EM2
(Note
(ὀ12)12)
15 SON FR-BR
(Note
(ὀ5) TH1
Plate
ࣉ࣮ࣞࢺ SD P
TH2
PR
P3
((Note
ὀ3) 3) FR-BU2
P4
(Note
(ὀ10)
10) PR MSG
(ὀ9)
(Note 9)
P+ P/+ SD
(Note
(ὀ4) 4) A
(ὀ7)7)
(Note N/-
B
C
N- BUE
(Note
(ὀ8) 8)(ὀ
(Note
6) 6)
C SD
Terminal
➃Ꮚྎ
(ὀ2)block
(Note 2) FR-BR
(Note
(ὀ5) TH1
P
TH2
PR
FR-BU2
PR MSG
(Note
(ὀ9)
P/+ SD
(Note
(ὀ4) 4) A
N/-
B
C
BUE
(Note
(ὀ8) 8)(ὀ
(Note
6) 6)
SD
11 - 17

and C terminals.
3. Always connect between P3 and P4 terminals. (factory-wired) Use either the power factor improving DC reactor or the power
factor improving AC reactor. When using the power factor improving DC reactor, refer to section 11.11.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in servo
5. Contact rating: 1b contact, 110 V AC_5 A/220 V AC_3 A
Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting.
6. Contact rating: 230 V AC_0.3 A/30 V DC_0.3 A
Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting.
7. Do not connect more than one cable to each P+ to N- terminals of the servo amplifier.
8. Always connect BUE and SD terminals. (factory-wired)
9. Connect MSG and SD terminals of the brake unit to a correct destination. Incorrect connection destination results in servo
10. For the cable to connect the terminal block and the P+ and N- terminals of the servo amplifier, use the cable indicated in (3)(b)
of this section.
amplifier.
(2) Connection instructions

The cables between the servo amplifier and the brake unit, and between the resistor unit and the brake
unit should be as short as possible. Always twist the cable longer than 5 m (twist five times or more per
one meter). Even when the cable is twisted, the cable should be less than 10 m. Using cables longer
than 5 m without twisting or twisted cables longer than 10 m, may result in the brake unit malfunction.
Servo amplifier Servo amplifier
Brake unit Resistor unit Brake unit Resistor unit
P+ P/+ P P P+ Twist P/+ P Twist P

N- N/- PR PR N- N/- PR PR
5 m or less 5 m or less 10 m or less 10 m or less
(3) Cables
(a) Cables for the brake unit
For the brake unit, HIV cable (600 V grade heat-resistant PVC insulated wire) is recommended.
1) Main circuit terminal

Main Crimp
Wire size
circuit terminal Tightenin
Brake unit terminal g torque N/-㸪P/+㸪PR㸪
N/-㸪P/+㸪
screw [N•m] HIV wire
PR㸪 AWG
N/- P/+ PR size 2
[mm ]
200 V
FR-BU2-15K M4 5.5-4 1.5 3.5 12
class
Terminal block FR-BU2-30K M5 5.5-5 2.5 5.5 10
11 - 18
2) Control circuit terminal
POINT
Under tightening can cause a cable disconnection or malfunction. Over
tightening can cause a short circuit or malfunction due to damage to the screw
or the brake unit.
RES SD MSG MSG SD SD Sheath Core

PC BUE SD
A B C
Jumper
6 mm
Terminal block
Wire the stripped cable after twisting to prevent the cable
from becoming loose. In addition, do not solder it.
Screw size: M3
Wire size: 0.3 mm2 to 0.75 mm2
Screw driver: Small flat-blade screwdriver
(Tip thickness: 0.4 mm/Tip width 2.5 mm)
(b) Cables for connecting the servo amplifier and a distribution terminal block when connecting two sets
of the brake unit
Wire size
Brake unit 2
HIV wire [mm ] AWG
FR-BU2-15K 8 8
(4) Crimp terminals for P+ and N- terminals of servo amplifier

(a) Recommended crimp terminals
POINT
Always use recommended crimp terminals or equivalent since some crimp
terminals cannot be installed depending on the size.
Numb
er of (Note 1)
Servo amplifier Brake unit conne Crimp terminal (Manufacturer) Applicable
cted tool
units
200 V
MR-J4-500A FR-BU2-15K 1 FVD5.5-S4(JST) a
class
2 8-4NS(JST) (Note 2) b
FR-BU2-30K 1 FVD5.5-S4(JST) a
MR-J4-700A FR-BU2-15K 2 8-4NS(JST) (Note 2) b
FR-BU2-30K 1 FVD5.5-S4(JST) a
Note 1. Symbols in the applicable tool field indicate applicable tools in (4)(b) of this section.
2. Coat the crimping part with an insulation tube.
11 - 19
(b) Applicable tool

Servo amplifier-side crimp terminals
Symbol
Crimp terminal Applicable tool Manufacturer
FVD5.5-S4
a YNT-1210S
FVD5.5-6 JST
b 8-4NS YHT-8S
11.3.4 Dimensions
(1) FR-BU2 Brake unit
[Unit: mm]
FR-BU2-15K
(Screw size: M4)

5
118
128
Rating
plate
5 4
5
6 56 6 18.5 52 62
68 132.5
FR-BU2-30K
(Screw size: M4)

5
118
128
Rating
plate
5 5
5
6 96 6 18.5 52 59
108 129.5
11 - 20
(2) FR-BR Resistor unit
[Unit: mm]
Approx.
H2
D1
(Note)
H3 ± 1
H1 ± 3
H±5
Control circuit (Note)
terminal
Main circuit
terminal
Approx.
C C
H2
Approx. 35 W1 ± 1 Approx. 35
D±5
W±5
Note. Ventilation ports are provided on both sides and the top. The bottom is open.
Approximate
Resistor unit W W1 H H1 H2 H3 D D1 C
mass [kg]
200 V FR-BR-15K 170 100 450 410 20 432 220 3.2 6 15
class FR-BR-30K 340 270 600 560 20 582 220 4 10 30
11.4 FR-RC Power regenerative converter
POINT
When using FR-RC, set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1).
When using the power regenerative converter, set "_ _ 0 1" in [Pr. PA02].
(1) Selection example

The converters can continuously return 75% of the nominal regenerative power. They are applied to the
servo amplifiers of the 5 kW to 7 kW.
Nominal
Continuous energization time [s]
Power regenerative regenerative 500

Servo amplifier
converter power 300
[kW]
200
FR-RC-15K 15 MR-J4-500A
FR-RC-30K 30 MR-J4-700A 100
50
30
20
0 50 75 100 150
Nominal regenerative power [%]
11 - 21
(2) Connection example
POINT
In this configuration, only the STO function is supported. The forced stop
deceleration function is not available.
Servo
ࢧ࣮࣎࢔ࣥࣉamplifier
(Note
(ὀ7)7)
L11
L21
Power factorAC
ຊ⋡ᨵၿ improving
ࣜ࢔ࢡࢺࣝ AC reactor
MCCB MC FR-HAL
(Note(5) L1
ὀ5)
㟁※
Power supply L2
L3
CN1 CN1 24 V DC
DC24V
Forced stop 1
(Note1(
ᙉไ೵Ṇ 6)ὀ6) EM1 DOCOM
(Note
(ὀ8) ࢧ࣮࣎࢜ࣥ
Servo-on SON DICOM
(Note
8) (ὀ8)
DOCOM ALM RA
Malfunction
ᨾ㞀(ὀ3) 8)
(Note 3)
(ὀ2) 2)
(Note
P3 P4 N- C P+
(ὀ4)
(Note 4) 5m
5m௨ୗor shorter
RD N/- P/+
A
Ready
ࣞࢹ࢕ SE
RDY B
RDYฟຊ B
output C
C
R/L1 Alarm output
␗ᖖฟຊ
S/L2
T/L3
RX
(ὀ1)
R ఩
┦
SX (Note
᳨ 1)
Phase
ฟ detection
S terminals
➃
TX Ꮚ
T
Power regenerative converter
㟁※ᅇ⏕ࢥࣥࣂ࣮ࢱ
FR-RC
FR-RC Operation ready
ALM 㐠㌿‽ഛ
B C RA OFF
࢜ࣇ
ON
࢜ࣥ
MC
Forced stop 1 (Note

ᙉไ೵Ṇ 1(ὀ6)6) MC
SK
11 - 22
Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain removed,
the FR-RC will not operate.
3. and C terminals.
If disabling ALM (Malfunction) output with the parameter, configure up the power supply circuit which switches off the magnetic
4. contactor after detection of alarm occurrence on the controller side.
Always connect between P3 and P4 terminals. (factory-wired) Use either the power factor improving DC reactor or the power
5. factor improving AC reactor. When using the power factor improving DC reactor, refer to section 11.11.
Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1). Configure up the circuit which shuts off main circuitpower with
7. external circuit at EM1 (Forced stop 1) off.
When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded case circuit breaker.
(3) Dimensions
Mounting foot (removable)
Mounting foot
E
movable
Rating plate
Display
Front cover panel
window
BA
B
Cooling fan
D F K
AA
EE
C
A
Heat generation area outside mounting dimension
[Unit: mm]
Approxim
Power regenerative
A AA B BA C D E EE K F ate mass
converter
[kg]
FR-RC-15K 270 200 450 432 195 10 10 8 3.2 87 19
FR-RC-30K 340 270 600 582 195 10 10 8 3.2 90 31
11 - 23
(4) Mounting hole machining dimensions

When the power regenerative converter is installed to an enclosed type cabinet, mount the heat
generating area of the converter outside the box to provide heat generation measures. At this time, the
mounting hole having the following dimensions is machined in the box.
[Unit: mm]
Power regenerative
(AA) a b D AA BA
converter
FR-RC-15K 260 412 10 200 432
FR-RC-30K 330 562 10 270 582
(Mounting hole)
(BA)
11 - 24
11.5 FR-CV Power regenerative common converter
POINT
For details of the power regenerative common converter FR-CV, refer to the FR-
CV-(H) Installation Guide (IB(NA)0600075).
Do not supply power to the main circuit power supply terminals (L1, L2, and L3)
of the servo amplifier. Doing so will fail the servo amplifier and FR-CV.
Connect the DC power supply between the FR-CV and servo amplifier with
correct polarity. Connection with incorrect polarity will fail the FR-CV and servo
amplifier.
Two or more FR-CV's cannot be installed to improve regeneration capability.
Two or more FR-CV's cannot be connected to the same DC power supply line.
When using FR-CV, set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1).
When using the power regenerative common converter, set [Pr. PA02] to "_ _ 0 1".
(1) Model
Capacity
Symbol Capacity [kW]
7.5K 7.5
11K 11
15K 15
22K 22
30K 30
37K 37
55K 55

The power regenerative common converter FR-CV can be used for the servo amplifier of 200 V class
with 750 W to 7 kW. The following shows the restrictions on using the FR-CV.
(a) Up to six servo amplifiers can be connected to one FR-CV.
(b) FR-CV capacity [W] Total of rated capacities [W] × 2 of servo amplifiers connected to FR-CV.
(c) The total of used servo motor rated currents should be equal to or less than the applicable current
[A] of the FR-CV.
(d) Among the servo amplifiers connected to the FR-CV, the servo amplifier of the maximum capacity
should be equal to or less than the maximum connectable capacity [W].
The following table lists the restrictions.

FR-CV-_
Item
7.5K 11K 15K 22K 30K 37K 55K
Maximum number of connected servo
6
amplifiers
Total of connectable servo amplifier
3.75 5.5 7.5 11 15 18.5 27.5
capacities [kW]
Total of connectable servo motor rated
33 46 61 90 115 145 215
currents [A]
Maximum servo amplifier capacity [kW] 3.5 5 7 11 15 15 22
11 - 25
When using the FR-CV, always install the dedicated stand-alone reactor (FR-CVL).
Power regenerative common Dedicated stand-alone
converter reactor
FR-CV-7.5K(-AT) FR-CVL-7.5K
FR-CV-11K(-AT) FR-CVL-11K
FR-CV-37K FR-CVL-37K
FR-CV-55K FR-CVL-55K
POINT
In this configuration, only the STO function is supported. The forced stop
deceleration function is not available.
Servo Servo
FR-CVL FR-CV amplifier
ࢧ࣮࣎࢔ࣥࣉ ࢧ࣮࣮࣎ࣔࢱ
motor
(Note
(ὀ7)7)
MCCB MC R/L11 R2/L12 L11 U U
R2/L1
3-phase୕┦
200 V S/L21 S2/L22 L21 V V
AC200V
AC to 230 V AC S2/L2
㹼230V T/L31 T2/L32
W W
T2/L3
P/L+ P
(ὀ5)
(Note 5)
N/L- N- CN2
R/L11
S/L21
P24
T/MC1
SD
(Note 2) SON
RA1 (ὀ2)
RESET SON
RES (Note
RDYB RA1 (ὀ2)
SD 2) EM1(Note 1,6) RA2 (Note
(ὀ1㸪6) (ὀ4)4)
RDYA EM1
RSO RES DOCOM
(ὀ1) 1)
(Note
(ὀ1)
SE ALM RA3
OFF
RA1 RA2 EM1 ࢜ࣇ ON
࢜ࣥ
DOCOM
A (Note
(ὀ1)
MC RA1
1) DICOM
B
MC
C
SK
DC24V
24 V DC
11 - 26
Note 1. Configure a sequence that will shut off main circuit power at the follow cases.
FR-CV or servo amplifier alarm occurs.
EM1 (forced stop 1) turns off.
2. For the servo amplifier, configure a sequence that will switch the servo-on after the FR-CV is ready.
3. For the FR-CV, the RSO signal turns off when it is put in a ready-to-operate status where the reset signal is input. Configure
a sequence that will make the servo inoperative when the RSO signal is on.
4. Configure a sequence that will make a stop with the emergency stop input of the servo system controller if an alarm occurs in
5. the FR-CV.
5.
6. When using the FR-CV, disconnect
servo amplifier of 7 between P3make
kW or less, and P4 terminals.
sure to disconnect the wiring of built-in regenerative resistor (5 kW or
6. Set [Pr.
7. less: P+ PA04]
and D,to7 "0
kW0 to
_ _" to enable
7 kW: P+ and EM1
C). (Forced stop 1).
7. Set
When[Pr.wires
PA04]used
to "0for0L11
_ _"and L21 are
to enable thinner
EM1 thanstop
(Forced wires1).used for L1, L2, and L3, use a molded case circuit breaker.
When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded case circuit breaker.
(4) Selection example of wires used for wiring
POINT
Selection condition of wire size is as follows.
Wire type: 600 V Polyvinyl chloride insulated wire (IV wire)
Construction condition: One wire is constructed in the air.
(a) Wire sizes

1) Across P - P, N - N
The following table indicates the connection wire sizes of the DC power supply (P, N- terminals)
between the FR-CV and servo amplifier.
Total of servo amplifier capacities 2
Wires [mm ]
[kW]
1 or less 2
2 3.5
5 5.5
7 8
11 14
15 22
22 50
2) Grounding
For grounding, use the wire of the size equal to or greater than that indicated in the following
table, and make it as short as possible.
Power regenerative common Grounding wire size
2
converter [mm ]
FR-CV-7.5K to FR-CV-15K 14
FR-CV-22K, FR-CV-30K 22
FR-CV-37K, FR-CV-55K 38
11 - 27
(b) Example of selecting the wire sizes

When connecting multiple servo amplifiers, always use junction terminals for wiring the servo
amplifier terminals P, N-. Also, connect the servo amplifiers in the order of larger to smaller
capacities.
Wire as short as possible
FR-CV-30K 22 mm 2
8 mm2 Servo amplifier (7 kW)
R2/L1 P/L+ P First unit:
(Note) 22mm2 assuming that the total
S2/L2 N/L- N- of servo amplifier capacities is
15 kW since 7 kW + 3.5 kW +
T2/L3 2.0 kW = 12.5 kW.
8 m2
3.5 mm2 Servo amplifier (3.5 kW)
R/L11 P Second unit:
(Note) 8mm2 assuming that the total of
S/L21 N-
servo amplifier capacities is 7kW
T/MC1 since 3.5 kW + 2.0 kW = 5.5 kW.
2 mm2
2 mm2 Servo amplifier (2 kW)
P Third unit:
(Note) 2mm2 assuming that the total of
N-
servo amplifier capacities is 2kW
Junction terminal since 2.0 kW = 2.0 kW.
Overall wiring length 5 m or less
Note. When using the servo amplifier of 7 kW or less, make sure to disconnect the wiring of built-in regenerative
resistor (5 kW or less: P and D, 7 kW to 7 kW: P and C).
11 - 28
(5) Other precautions

(a) Always use the dedicated stand-alone reactor (FR-CVL) as the power factor improving reactor. Do
not use the power factor improving AC reactor (FR-HAL) or Power factor improving DC reactor (FR-
HEL).
(b) The inputs/outputs (main circuits) of the FR-CV and servo amplifiers include high-frequency
components and may provide electromagnetic wave interference to communication equipment (such
as AM radios) used near them. In this case, interference can be reduced by installing the radio noise
filter (FR-BIF) or line noise filter (FR-BSF01, FR-BLF).
(c) The overall wiring length for connection of the DC power supply between the FR-CV and servo
amplifiers should be 5 m or less, and the wiring must be twisted.
(6) Specifications
Power regenerative common converter
FR-CV-_ 7.5K 11K 15K 22K 30K 37K 55K
Item
Total of connectable servo amplifier
[kW] 3.75 5.5 7.5 11 15 18.5 27.5
capacities
Maximum servo amplifier capacity [kW] 3.5 5 7 11 15 15 22
Total of connectable servo
[A] 33 46 61 90 115 145 215
motor rated currents [A]
Out
Total capacity of applicable servo motors, 300% torque, 60s
put Regenerative Short-time rating
(Note 1)
braking torque
Continuous rating 100% torque
3-phase 200 V AC to 220 V AC 50 Hz, 200 V AC to 230 V AC
Rated input AC voltage/frequency
60 Hz
Permissible AC
3-phase 170 V AC to 242 V AC 50 Hz, 170 V AC to 253 V AC
Pow voltage
60 Hz
er fluctuation
sup Permissible
ply frequency ±5%
fluctuation
Power supply capacity [kVA]
[kVA] 17 20 28 41 52 66 100
(Note 2)
IP rating (JEM 1030), cooling method Open type (IP00), forced cooling
Ambient
Envi temperature -10 ÛC to 50 ÛC (non-freezing)
ron
Ambient humidity 90% RH or less (non-condensing)
men
t Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and
Ambience
dirt
1000 m or less above sea level, 5.9
Altitude, vibration 2
m/s or less
Molded case circuit breaker or leakage 30 AF 50 AF 100 AF 100 AF 225 AF 225 AF 225 AF
current breaker 30 A 50 A 75 A 100 A 125 A 125 A 175 A
Magnetic contactor S-N20 S-N35 S-N50 S-N65 S-N95 S-N95 S-N125
Note 1. This is the time when the protective function of the FR-CV is activated. The protective function of the servo amplifier is
2. activated in the time indicated in section 10.1.
When connecting the capacity of connectable servo amplifier, specify the value of servo amplifier.
11 - 29
11.6 Junction terminal block MR-TB50
(1) Usage
Always use the junction terminal block (MR-TB50) with the option cable (MR-J2M-CN1TBL_M) as a set.
Servo amplifier
ࢧ࣮࣎࢔ࣥࣉ
Junction
୰⥅➃Ꮚྎterminal block
Cable clamp
ࢣ࣮ࣈࣝࢡࣛࣥࣉ MR-TB50
CN1
Junction terminal block cable
୰⥅➃Ꮚྎࢣ࣮ࣈࣝ
(MR-J2M-CN1TBL_M)
Ground the option cable on the junction terminal block side with the cable clamp fitting (AERSBAN-
ESET). For the use of the cable clamp fitting, refer to section 11.14, (2)(c).
(2) Terminal labels

Use the following junction terminal block labels. This label is supplied with the junction terminal block
MR-TB50.
Position
఩⨨ไᚚ࣮ࣔࢻ control mode
P15R LG LAR LBR LZR PG SON PC RES DICOM ZSP TLC TLA OP NP CR LSP LOP DOCOM RD
11
13
15
17
19
21
23
25
27
29
31
33
35
37
39
41
43
45
47
49
1
LA LB LZ PP OPC TL DICOM INP INP LG LG LG NG EMG LSN DOCOM ALM SD

10
12
14
16
18
20
22
24
26
28
30
32
34
36
38
40
42
44
46
48
50
2
Speed control mode

㏿ᗘไᚚ࣮ࣔࢻ
P15R LG LAR LBR LZR SON ST1 RES DICOM ZSP TLC TLA OP SP1 LSP LOP DOCOM RD
11
13
15
17
19
21
23
25
27
29
31
33
35
37
39
41
43
45
47
49
1
VC LA LB LZ SP2 ST2 DICOM SA SA LG LG LG EMG LSN DOCOM ALM SD

10
12
14
16
18
20
22
24
26
28
30
32
34
36
38
40
42
44
46
48
50
2
Torque control mode

ࢺࣝࢡไᚚ࣮ࣔࢻ
P15R LG LAR LBR LZR SON SR2 RES DICOM ZSP VLC TC OP SP1 LOP DOCOM RD
11
13
15
17
19
21
23
25
27
29
31
33
35
37
39
41
43
45
47
49
1
VLA LA LB LZ SP2 RS1 DICOM LG LG LG EMG DOCOM ALM SD

10
12
14
16
18
20
22
24
26
28
30
32
34
36
38
40
42
44
46
48
50
2
(3) Dimensions
235 [Unit:
[༢఩:mm]mm]
2-ȭ4.5
2 50
(25)
1 49
MITSUBISHI
50
MR-TB50
9
1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 3133 35 37 39 41 43 45 47 49
25
2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50
2.5
244 46.5
Terminal
➃Ꮚࡡࡌ screw:
: M3.5M3.5
Applicable
㐺ྜ㟁⥺ : 2mm
wire: 2 mm
2 2
ᅽ╔➃Ꮚᖜ
Crimp terminal width:: 7.2mm
7.2 mm௨ୗor less.
11 - 30
(4) Junction terminal block cable MR-J2M-CN1TBL_M

(a) Model explanations
Model:
ᙧྡ:
Symbol
グྕ 㛗ࡉ>m]
Cable length
ࢣ࣮ࣈࣝ
05 0.5
1 1
(b) Connection diagram

(Servo amplifier side)
10150-6000EL(ࢧ࣮࣎࢔ࣥࣉഃ) (Junction terminal side)
D7650-B500FL(୰⥅➃Ꮚഃ)
Signal
ಙྕ␎⛠ symbol
Position Speed Pin No.
Torque ࣆࣥ␒ྕ Pin ␒ྕ
ࣆࣥ No.
఩⨨ ㏿ᗘ ࢺࣝࢡ
P15R P15R P15R 1 1
VC VLA 2 2
LG LG LG 3 3
LA LA LA 4 4
LAR LAR LAR 5 5
LB LB LB 6 6
LBR LBR LBR 7 7
LZ LZ LZ 8 8
LZR LZR LZR 9 9
PP 10 10
PG 11 11
OPC 12 12
13 13
14 14
SON SON SON 15 15
LOP SP2 SP2 16 16
PC ST1 RS2 17 17
TL ST2 RS1 18 18
RES RES RES 19 19
DICOM DICOM DICOM 20 20
DICOM DICOM DICOM 21 21
INP SA 22 22
ZSP ZSP ZSP 23 23
INP SA 24 24
TLC TLC TLC 25 25
26 26
TLA TLA TC 27 27
LG LG LG 28 28
29 29
LG LG LG 30 30
31 31
32 32
OP OP OP 33 33
LG LG LG 34 34
NP 35 35
NG 36 36
37 37
38 38
39 39
40 40
CR SP1 SP1 41 41
EMG EMG EMG 42 42
LSP LSP 43 43
LSN LSN 44 44
LOP LOP LOP 45 45
DOCOM DOCOM DOCOM 46 46
DOCOM DOCOM DOCOM 47 47
ALM ALM ALM 48 48
RD RD RD 49 49
50 50
SD SD SD Plate
ࣉ࣮ࣞࢺ
11 - 31
11.7 MR Configurator2
MR Configurator2 (SW1DNC-MRC2-E) uses the communication function of the servo amplifier to perform
parameter setting changes, graph display, test operation, etc. on a personal computer.
(1) Specifications
Item Description
Project Creat/read/save/delete project, system setting, and print
Parameter Parameter setting
Monitor Display all, I/O monitor, graph, and ABS data display
Alarm display, alarm onset data, drive recorder, no motor rotation, system configuration, life
Diagnostic
diagnosis, machine diagnosis, fully closed loop diagnosis, and linear diagnosis
Jog operation, positioning operation, motor-less operation (Note), DO forced output, and
Test operation
program operation
Adjustment One-touch tuning, tuning, and machine analyzer
Servo assistant, parameter setting range update, machine unit conversion setting, help display,
Others
and connection to MELFANSweb
Note. This function is available only with rotary servo motors. It will be available with linear servo motors and direct drive
motors in the future.
(2) System configuration

(a) Components
To use this software, the following components are required in addition to the servo amplifier and
servo motor.
Equipment (Note 1) Description
® ®
Microsoft Windows 7 Ultimate [Service Pack none/1]
® ®
Microsoft Windows 7 Enterprise [Service Pack none/1]
® ®
Microsoft Windows 7 Professional [Service Pack none/1]
® ®
Microsoft Windows 7 Home Premium [Service Pack none/1]
® ®
Microsoft Windows 7 Starter [Service Pack none/1]
® ®
Microsoft Windows Vista Home Basic [Service Pack none/1/2]
® ®
OS Microsoft Windows Vista Home Premium [Service Pack none/1/2]
® ®
Microsoft Windows Vista Business [Service Pack none/1/2]
® ®
Microsoft Windows Vista Ultimate [Service Pack none/1/2]
® ®
Microsoft Windows Vista Enterprise [Service Pack none /1/2]
(Note 2, 3, 4, 5) ® ®
Microsoft Windows XP Professional [Service Pack 2/3]
Personal computer ® ®
Microsoft Windows XP Home Edition [Service Pack 2/3]
® ®
Microsoft Windows 2000 Professional [Service Pack 4]
® ®
Desktop personal computer: Intel Celeron processor 2.8GHz or more is
recommended.
CPU ® ®
Laptop personal computer: Intel Pentium M processor 1.7GHz or more is
recommended.
Memory 512 MB or more (for 32-bit OS) and 1GB or more (for 64-bit OS)
Hard Disk 1GB or more of free space
Communication
USB port
interface
Browser Internet Explorer 4.0 or more
One whose resolution is 1024 × 768 or more and that can provide a high color (16 bit) display.
Display
Connectable with the above personal computer.
Keyboard Connectable with the above personal computer.
Mouse Connectable with the above personal computer.
Printer Connectable with the above personal computer.
USB cable MR-J3USBCBL3M
11 - 32
Note 1. Windows and Windows Vista are registered trademarks of Microsoft Corporation in the United States and/or other countries.
Celeron and Pentium are the registered trademarks of Intel Corporation.
2. On some personal computers, MR Configurator2 may not run properly.
® ® ® ® ® ®
3. When Microsoft Windows 7, Microsoft Windows Vista , or Microsoft Windows XP is used, the following functions cannot
be used.
Windows Program Compatibility mode
Fast User Switching
Remote Desktop
Large Fonts Mode (Display property)
DPI settings other than 96DPI (Display property)
®
For 64-bit operating system, this software is compatible with Windows 7.
4. When Windows® 7 is used, the following functions cannot be used.
Windows XP Mode
Windows touch
5. When using this software with Windows Vista® and Windows® 7, log in as a user having USER authority or higher.
(b) Connection with servo amplifier

Personal computer
ࣃ࣮ࢯࢼࣝࢥࣥࣆ࣮ࣗࢱ
Servo
ࢧ࣮࣎࢔ࣥࣉamplifier USB cable
USBࢣ࣮ࣈࣝ To USB
USB
MR-J3USBCBL3M
(Option)
(࢜ࣉࢩࣙࣥ) ࢥࢿࢡࢱ࡬
connector
CN5
11 - 33
11.8 Battery
POINT
Refer to appendix 2 and 3 for battery transportation and the new EU Battery
Directive.
(1) Purpose of use for MR-BAT6V1SET

This battery is used to construct an absolute position detection system. Refer to section 12.3 for the
fitting method, etc.
(2) Year and month when MR-BAT6V1SET is manufactured

The manufacturing years of MR-BAT6V1SET have been described to the rating plate put on a built-in
MR-BAT6V1 battery.
Name
ྡᯈplate
2CR17335A WK17
11-04
6V 1650mAh
The year and month of manufacture
11 - 34
11.9 Selection example of wires
POINT
To comply with the UL/CSA standard, use the wires shown in appendix 5 for
wiring. To comply with other standards, use a wire that is complied with each
standard.
Selection condition of wire size is as follows.
Wire length: 30 m or less
The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
1) Main circuit power supply lead
Servo amplifier
Power supply
L1 U
L2 V M
L3 W
2) Control circuit power supply lead
L11
4) Servo motor power supply lead
L21
5) Power regenerative converter lead
Power regenerative N-
converter
Regenerative option
C
P+
5 m or less
3) Regenerative option lead
11 - 35
(1) When using the 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire)
Selection example of wire size when using HIV wires is indicated below.
Table 11.1 Wire size selection example 1 (HIV wire)

2
Wires [mm ]
Servo amplifier 4) U/V/W/
1) L1/L2/L3/ 2) L11/L21 3) P+/C/D
(Note 3)
MR-J4-10A
MR-J4-20A
MR-J4-40A AWG 18 to 14
1.25 to 2(AWG 16 (Note 4)
MR-J4-60A 2 (AWG 14)
to 14) 2 (AWG 14)
MR-J4-70A
(Note 4)
MR-J4-100A
MR-J4-200A
AWG 16 to 10
MR-J4-350A 3.5 (AWG 12)
2 (AWG 14): c
MR-J4-500A (Note 2) 5.5 (AWG 10): a 3.5 (AWG 12): a
1.25 (AWG 16): a 5.5 (AWG 10): a
2 (AWG 14): d 2 (AWG 14): c 2 (AWG 14): c
(Note 4) 3.5 (AWG 12): a
MR-J4-700A (Note 2) 8 (AWG 14): b
5.5 (AWG 10): a
8 (AWG 14): b
Note 1. Alphabets in the table indicate crimping tools. For crimp terminals and applicable tools, refer to (2)
in this section.
2. To connect these models to a terminal block, be sure to use the screws that come with the
3. terminal block.
The wire size shows applicable size of the servo amplifier connector. For wires connecting to the
4. servo motor, refer to each servo amplifier instruction manual.
Be sure to use 2 mm2 when corresponding to EN standard.
Use wires 5) of the following sizes with the power regenerative converter (FR-RC).
2
Model Wires [mm ]
FR-RC-15K 14 (AWG 6)
(2) Selection example of crimp terminals

The table below shows a selection example of crimp terminals for the servo amplifier terminal block.
Symbol (Note 2) Crimp
Applicable tool Manufacturer
terminals
a FVD5.5-4 YNT-1210S
(Note 1)
8-4NS YHT-8S
b
c FVD2-4 JST
YNT-1614
d FVD2-M3
e FVD1.25-M3 YNT-2216
Note 1. Coat the crimping part with an insulation tube.

2. Always use recommended crimp terminals or equivalent since some crimp
11 - 36
11.10 Molded case circuit breakers, fuses, magnetic contactors (recommended)
(1) For main circuit power supply

Always use one molded case circuit breaker and one magnetic contactor with one servo amplifier. When
using a fuse instead of the molded case circuit breaker, use the one having the specifications given in
this section.
Molded case circuit breaker (Note 1) Fuse Magnetic
Servo amplifier Voltage Current Voltage contactor
Frame, rated current Class (MC) (Note 2)
AC [V] [A] AC [V]
MR-J4-10A
30 A frame 5 A 10
MR-J4-20A
MR-J4-40A 30 A frame 10 A 15
S-N10
MR-J4-60A
MR-J4-70A 30 A frame 15 A 20
240 T 300
MR-J4-100A
MR-J4-200A 30 A frame 20 A 40 S-N18
MR-J4-350A 30 A frame 30 A 70 S-N20
MR-J4-500A 50 A frame 50 A 125 S-N35
MR-J4-700A 100 A frame 75 A 150 S-N50
Note 1. When using the servo amplifier as a UL/CSA standard compliant product, refer to appendix 5.
2. Use a magnetic contactor with an operation delay time (interval between current being applied to
the coil until closure of contacts) of 80 ms or less.
(2) For control circuit power supply

When the wiring for the control circuit power supply (L11, L21) is thinner than that for the main circuit
power supply (L1, L2, L3), install an overcurrent protection device (molded case circuit breaker or fuse)
to protect the branch circuit.
Molded case circuit breaker (Note) Fuse (Class T) Fuse (Class K5)
Servo amplifier
Frame, rated current Voltage AC [V] Current [A] Voltage AC [V] Current [A] Voltage AC [V]
MR-J4-10A
MR-J4-20A
MR-J4-40A
MR-J4-60A
MR-J4-70A
30 A frame 5 A 240 1 300 1 250
MR-J4-100A
MR-J4-200A
MR-J4-350A
MR-J4-500A
MR-J4-700A
Note. When using the servo amplifier as a UL/CSA standard compliant product, refer to appendix 5.
11.11 Power factor improving DC reactors
The following shows the advantages of using power factor improving DC reactor.
It improves the power factor by increasing the form factor of the servo amplifier's input current.
It decreases the power supply capacity.
The input power factor is improved to be about 85%.
As compared to the power factor improving AC reactor (FR-HAL), it decreases the loss.
When connecting the power factor improving DC reactor to the servo amplifier, always disconnect P3 and
P4. If it remains connected, the effect of the power factor improving DC reactor is not produced.
When used, the power factor improving DC reactor generates heat. To release heat, therefore, leave a 10
cm or more clearance at each of the top and bottom, and a 5 cm or more clearance on each side.
11 - 37
2-d mounting hole

(Varnish is removed from right mounting
hole (face and back side).) (Note 1)
4-d mounting hole
(Varnish is removed from front right mounting
Max. D
Max. D
P P1 D3
P P1
H
H
W1 W1 D2
W±2 W±2 D1
Fig. 11.1 Fig. 11.2
Servo amplifier
FR-HEL
P3
(Note 2)
P4
5 m or less
Note 1. Use this for grounding.

2. When using the Power factor improving DC reactor, remove the short bar across P3-P4.
Power factor Dimensions [mm] 2

Dimens Terminal Mass Wire [mm ]
Servo amplifier improving DC D (Note
ions W W1 H D1 D2 D3 d size [kg] (Note 2)
reactor 1)
MR-J4-10A,
FR-HEL-0.4K 70 60 71 61 21 M4 M4 0.4
MR-J4-20A
MR-J4-40A FR-HEL-0.75K Fig. 85 74 81 61 21 M4 M4 0.5
MR-J4-60A, 11.1 2 (AWG 14)
FR-HEL-1.5K 85 74 81 70 30 M4 M4 0.8
MR-J4-70A
MR-J4-100A FR-HEL-2.2K 85 74 81 70 30 M4 M4 0.9
MR-J4-200A FR-HEL-3.7K 77 55 92 82 66 57 37 M4 M4 1.5
MR-J4-350A FR-HEL-7.5K Fig. 86 60 113 98 81 72 43 M4 M5 2.5 3.5 (AWG 12)
MR-J4-500A FR-HEL-11K 11.2 105 64 133 112 92 79 47 M6 M6 3.3 5.5 (AWG 10)
MR-J4-700A FR-HEL-15K 105 64 133 115 97 84 48.5 M6 M6 4.1 8 (AWG 8)
Note 1. Maximum dimensions The dimension varies depending on the bending degree of the input/output line.
2. Selection condition of wire size is as follows.
600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire)
11 - 38
11.12 Power factor improving AC reactors
The following shows the advantages of using power factor improving AC reactor.
It improves the power factor by increasing the form factor of the servo amplifier's input current.
It decreases the power supply capacity.
The input power factor is improved to be about 80%.
When using power factor improving reactors for two servo amplifiers or more, be sure to connect a power
factor improving reactor to each servo amplifier. If using only one power factor improving reactor, enough
improvement effect of phase factor cannot be obtained unless all servo amplifiers are operated.
Terminal layout
R X S Y T Z
4-d mounting hole
Max. D Servo amplifier

3-phase 200 V class
FR-HAL
MCCB MC R X
L1
3-phase S Y
L2
200 to 240 V AC
T Z
L3
H
Servo amplifier
1-phase 200 V class
FR-HAL
MCCB MC R X
L1
W1 D2 (Note)
1-phase S Y
Max. W (Note 2)
L2
D1 200 to 240 V AC
T Z
L3
Fig. 11.3
Note 1. Use this for grounding. Note. For 1-phase 200 V AC to 240 V AC, connect the power
2. W±2 is applicable for FR-HAL-0.4K to 1.5K. supply to L1 and L3. Leave L2 open.
Terminal layout
R X S Y T Z
4-d mounting hole
hole (face and back side).) (Note )
Max. D
H
W1 D2
W±2 D1
Fig. 11.4
Note. Use this for grounding.
11 - 39
Power factor Dimensions [mm]

Dimens Terminal Mass
Servo amplifier improving AC D
ions W W1 H D1 D2 d size [kg]
reactor (Note)
MR-J4-10A,
FR-HAL-0.4K 104 84 99 72 51 40 M5 M4 0.6
MR-J4-20A
MR-J4-40A FR-HAL-0.75K 104 84 99 74 56 44 M5 M4 0.8
MR-J4-60A,
FR-HAL-1.5K Fig. 104 84 99 77 61 50 M5 M4 1.1
MR-J4-70A 11.3
115
MR-J4-100A FR-HAL-2.2K 40 115 77 71 57 M6 M4 1.5
(Note)
115
MR-J4-200A FR-HAL-3.7K 40 115 83 81 67 M6 M4 2.2
(Note)
MR-J4-350A FR-HAL-7.5K 130 50 135 100 98 86 M6 M5 4.2
Fig.
MR-J4-500A FR-HAL-11K 160 75 164 111 109 92 M6 M6 5.2
11.4
MR-J4-700A FR-HAL-15K 160 75 167 126 124 107 M6 M6 7.0
Note. Maximum dimensions The dimension varies depending on the bending degree of the input/output line.
11.13 Relays (recommended)
The following relays should be used with the interfaces

Interface Selection example
Digital input (interface DI-1) To prevent defective contacts , use a relay for
Relay used for digital input command signals small signal(twin contacts).
(Ex.) Omron : type G2A , MY
Digital output (interface DO-1) Small relay with 12 V DC or 24 V DC of rated
Relay used for digital output signals current 40 mA or less
(Ex.) Omron : type MY
11 - 40
11.14 Noise reduction techniques
Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those
radiated by the servo amplifier to cause peripheral devices to malfunction. Since the servo amplifier is an
electronic device which handles small signals, the following general noise reduction techniques are required.
Also, the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies. If
peripheral devices malfunction due to noises produced by the servo amplifier, noise suppression measures
must be taken. The measures will vary slightly with the routes of noise transmission.
(1) Noise reduction techniques

(a) General reduction techniques
Avoid laying power lines (input and output cables) and signal cables side by side or do not bundle
them together.Separate power lines from signal cables.
Use a shielded twisted pair cable for connection with the encoder and for control signal
transmission, and connect the external conductor of the cable to the SD terminal.
Ground the servo amplifier, servo motor, etc. together at one point. (Refer to section 3.11.)
(b) Reduction techniques for external noises that cause the servo amplifier to malfunction
If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many
relays which make a large amount of noise) near the servo amplifier and the servo amplifier may
malfunction, the following countermeasures are required.
Provide surge absorbers on the noise sources to suppress noises.
Attach data line filters to the signal cables.
Ground the shields of the encoder connecting cable and the control signal cables with cable clamp
fittings.
Although a surge absorber is built into the servo amplifier, to protect the servo amplifier and other
equipment against large exogenous noise and lightning surge, attaching a varistor to the power
input section of the equipment is recommended.
(c) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction
Noises produced by the servo amplifier are classified into those radiated from the cables connected
to the servo amplifier and its main circuits (input and output circuits), those induced
electromagnetically or statically by the signal cables of the peripheral devices located near the main
circuit cables, and those transmitted through the power supply cables.
11 - 41
Noises produced Noises transmitted Noise radiated directly Route 1)

by servo amplifier in the air from servo amplifier
Noise radiated from the

Route 2)
power supply cable
Noise radiated from

Route 3)
servo motor cable
Magnetic induction
noise Routes 4) and 5)
Static induction
Route 6)
noise
Noises transmitted Noise transmitted through

through electric Route 7)
power supply cable
channels
Noise sneaking from

grounding cable due to Route 8)
leakage current
11 - 42
5)
7) 7)
2)
7)
Sensor
power
1) supply
Servo
2)
amplifier
Instrument Receiver
3)
8)
6)
4) Sensor
3)
Servo motor M
Noise transmission
Suppression techniques
route
When measuring instruments, receivers, sensors, etc. which handle weak signals and may
malfunction due to noise and/or their signal cables are contained in a cabinet together with the servo
amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted
through the air. The following techniques are required.
1. Provide maximum clearance between easily affected devices and the servo amplifier.
1) 2) 3) 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier.
3. Avoid laying the power lines (Input cables of the servo amplifier) and signal cables side by side or
bundling them together.
4. Insert a line noise filter to the I/O cables or a radio noise filter on the input line.
5. Use shielded wires for signal and power cables or put cables in separate metal conduits.
When the power lines and the signal cables are laid side by side or bundled together, magnetic
induction noise and static induction noise will be transmitted through the signal cables and
malfunction may occur.The following techniques are required.
1. Provide maximum clearance between easily affected devices and the servo amplifier.
4) 5) 6) 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier.
3. Avoid laying the power lines (Input cables of the servo amplifier) and signal cables side by side or
bundling them together.
4. Use shielded wires for signal and power cables or put cables in separate metal conduits.
When the power supply of peripheral devices is connected to the power supply of the servo amplifier
system, noises produced by the servo amplifier may be transmitted back through the power supply
7) cable and the devices may malfunction.The following techniques are required.
1. Insert the radio noise filter (FR-BIF) on the power cables (Input cables) of the servo amplifier.
Insert the line noise filter (FR-BSF01/FR-BLF) on the power cables of the servo amplifier.
When the cables of peripheral devices are connected to the servo amplifier to make a closed loop
8) circuit, leakage current may flow to malfunction the peripheral devices. If so, malfunction may be
prevented by disconnecting the grounding cable of the peripheral device.
11 - 43
(2) Noise reduction techniques

(a) Data line filter (recommended)
Noise can be prevented by installing a data line filter onto the encoder cable, etc.
For example, ZCAT3035-1330 by TDK, ESD-SR-250 by NEC TOKIN, and GRFC-13 by Kitagawa
Industries are available as data line filters.
As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated
below. This impedances are reference values and not guaranteed values.
Impedance [ȍ] [Unit: mm]
10MHz to 100MHz 100MHz to 500MHz
39 ± 1
80 150 Loop for fixing the
34 ± 1 cable band
TDK
Product name Lot number

Outline drawing (ZCAT3035-1330)
(b) Surge killer (recommended)

Use of a surge killer is recommended for AC relay, magnetic contactor or the like near the servo
amplifier. Use the following surge killer or equivalent.
OFF
ON
MC
MC
SK
Relay
Surge killer
Surge killer
This distance should be short

(within 20 cm).
(Ex.) CR-50500 Okaya Electric Industries)

Rated
C R
voltage
[μF ± [ȍ ± Test voltage Dimensions [Unit: mm]
Voltage
20%] 30%]
AC [V]
Between terminals: 625 V AC,
50/60 Hz 60 s Band (clear) AWG18 Twisted wire
50 (1/2 15 ± 1
250 0.5 Between terminal and case: Soldered
W)
2000 V AC
CR-10201
50/60 Hz 60 s 6±1 6±1
300 mim 48 ± 1.5 300 mim 16 ± 1
(18.5 + 5) max.
Note that a diode should be installed to a DC relay or the like.

Maximum voltage: Not less than 4 times the drive voltage of the relay or + -
the like RA
Maximum current: Not less than twice the drive current of the relay or the
like Diode
11 - 44
(c) Cable clamp fitting AERSBAN-_SET

Generally, the grounding of the shielded wire may only be connected to the connector's SD terminal.
However, the effect can be increased by directly connecting the cable to an grounding plate as
shown below.
Install the grounding plate near the servo amplifier for the encoder cable.Peel part of the cable
sheath to expose the external conductor, and press that part against the grounding plate with the
cable clamp. If the cable is thin, clamp several cables in a bunch.
The clamp comes as a set with the grounding plate.
[Unit: mm]
Strip the cable sheath of Cable

the clamped area. cutter
Cable clamp
(A, B) Earth plate
cable
40
External conductor
Clamp section diagram
Dimensions
[Unit: mm] [Unit: mm]

Earth plate Clamp section diagram
17.5
installation hole
30
B ± 0.3
L or less 10
C
A
6
24 -0.2
0
35
3
24+ 00.3
7
(Note) M4 screw 6 22
35
11
Note. Screw hole for grounding. Connect it to the grounding plate of the cabinet.
Model A B C Accessory fittings Clamp fitting L

AERSBAN-DSET 100 86 30 Clamp A: 2 pcs. A 70
AERSBAN-ESET 70 56 Clamp B: 1 pc. B 45
11 - 45
(d) Line noise filter (FR-BSF01/ FR-BLF)

This filter is effective in suppressing noises radiated from the power supply side and output side of
the servo amplifier and also in suppressing high-frequency leakage current (0-phase current). It
especially affects the noises between 0.5 MHz and 5 MHz band.
Connection diagram Dimensions [Unit: mm]
Use the line noise filters for wires of the main power supply (L1, FR-BSF01 (for wire size 3.5 mm2 (AWG 12) or less))
L2, and L3) and of the servo motor power (U, V, and W). Pass
Approx. 110
each of the wires through the line noise filter an equal number of
times in the same direction. For the main power supply, the effect 95 ± 0.5
Approx. 22.5
of the filter rises as the number of passes increases, but generally
four passes would be appropriate. For the servo motor power
lines, passes must be four times or less. Do not pass the
grounding wire through the filte. or the effect of the filter will drop. Approx. 65
Wind the wires by passing through the filter to satisfy the required
number of passes as shown in Example 1. If the wires are too
thick to wind, use two or more filters to have the required number
of passes as shown in Example 2.
Approx. 65
Place the line noise filters as close to the servo amplifier as
possible for their best performance.
4.5
Example 1
MCCB MC Servo amplifier
Power L1
supply
L2 FR-BLF(for wire size 5.5 mm2 (AWG 10) or more))
Line noise L3
filter 31.5
(Number of turns: 4)
130
7
Example 2 85
MCCB MC
Power Servo amplifier
80
35
supply
L1
Line noise L2 160
2.3
filter L3 180
Two filters are used

(Total number of turns: 4)
11 - 46
(e) Radio noise filter (FR-BIF)

This filter is effective in suppressing noises radiated from the power supply side of the servo
amplifier especially in 10 MHz and lower radio frequency bands. The FR-BIF is designed for the
input only.
200 V class: FR-BIF
Connection diagram Dimensions [Unit: mm]
Make the connection cables as short as possible. Grounding is
Leakage current: 4 mA
always required. Red White Blue Green
When using the FR-BIF with a single-phase power supply, always
Approx. 300
insulate the lead wires that are not used for wiring.
MR-J4-350A or less
Terminal
block Servo amplifier
MCCB MC 29
L1
Power
42
L2 hole
supply
L3
4
58 29 7
44
Radio noise
filter
MR-J4-500A or more
Servo amplifier
MCCB MC
L1
Power L2
supply
L3
Radio noise
filter
11 - 47
(f) Varistor for input power supply (recommended)

Varistors are effective to prevent exogenous noise and lightning surge from entering the servo
amplifier. When using a varistor, connect it between each phase of the input power supply of the
equipment. For varistors, the TND20V-431K and TND20V-471K, manufactured by NIPPON CHEMI-
CON, are recommended. For detailed specification and usage of the varistors, refer to the
manufacturer catalog.
Maximum
Maximum rated limit Static
Varistor voltage rating
Power voltage capacity
(range)
supply Varistor Surge (referenc
Permissible circuit Energy Rated pulse V1 mA
voltage current e value)
voltage immunity power [A] [V]
immunity
AC[Vrms] DC[V] 8/20 μs [A] 2 ms [J] [W] [pF] [V]
10000/1
TND20V-431K 275 350 195 710 1300 430 (387 to 473)
200 V time
1.0 100
class 7000/2
TND20V-471K 300 385 215 775 1200 470 (423 to 517)
time
[Unit: mm]
(Note) ĳd W
D T D H T E
Model L ± 0.05 1.0 or
Max. Max. Max. ± 1.0
min. or less less
TND20V-431K 6.4 3.3
H
21.5 24.5 20 0.8 10.0

TND20V-471K 6.6 3.5
Note. For special purpose items for lead length (L), contact the manufacturer.
W E
L
11 - 48
11.15 Leakage current breaker
(1) Selection method

High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits.
Leakage currents containing harmonic contents are larger than those of the motor which is run with a
commercial power supply.
Select a leakage current breaker according to the following formula, and ground the servo amplifier,
servo motor, etc. securely.
To minimize leakage currents, make the input and output cables as short as possible, and make the
grounding cable longer than 30 cm.
Rated sensitivity current 10 • {Ig1 + Ign + Iga + K • (Ig2 + Igm )} [mA]………(11.1)
Leakage current breaker

Cable K
Mitsubishi
NV Noise filter Type
products
Servo Cable
amplifier M NV-SP
Models provided with NV-SW
harmonic and surge NV-CP 1
reduction techniques NV-CW
Ig1 Ign Iga Ig2 Igm NV-HW
BV-C1
General models NFB 3
NV-L
Ig1 : Leakage current on the electric channel from the leakage current breaker to the input terminals of
Ig2 the servo amplifier (Found from Fig. 11.5.)
Ign : Leakage current on the electric channel from the output terminals of the servo amplifier to the
Iga servo motor (Found from Fig. 11.5.)
Igm : Leakage current when a filter is connected to the input side (4.4 mA per one FR-BIF)
: Leakage current of the servo amplifier (Found from table 11.4.)
: Leakage current of the servo motor (Found from table 11.3.)
120
Leakage current [mA]
100
80
60
40
20
0
2 5.5 14 38100
3.5 8 22 60 150
30 80
Cable size [mm2]
Fig. 11.5 Leakage current example (lg1, lg2) for CV cable run in metal conduit
11 - 49
Table 11.3 Servo motor’s leakage current example (lgm)

Servo motor power [kW] Leakage current [mA]
0.05 to 1 0.1
2 0.2
3.5 0.3
5 0.5
7 0.7
Table 11.4 Servo amplifier's leakage current example (Iga)

Servo amplifier capacity [kW] Leakage current [mA]
0.1 to 0.6 0.1
0.75 to 3.5 0.15
5/7 2
Table 11.5 Leakage circuit breaker selection example

Rated sensitivity current of
Servo amplifier capacity [kW]
leakage circuit breaker [mA]
MR-J4-10A to MR-J4-70A 15
MR-J4-500A 30
MR-J4-700A 50
11 - 50

Indicated below is an example of selecting a leakage current breaker under the following conditions.
2mm2 × 5m 2mm2 × 5m
NV
Servo amplifier
ࢧ࣮࣎࢔ࣥࣉ Servo motor
ࢧ࣮࣮࣎ࣔࢱ
M
MR-J4-40A HG-KR43
Ig1 Iga Ig2 Igm
Use a leakage current breaker designed for suppressing harmonics/surges.

Find the terms of equation (11.1) from the diagram.
5
Ig1 = 20 • = 0.1 [mA]
1000
5
Ig2 = 20 • = 0.1 [mA]
1000
Ign = 0 (not used)
Iga = 0.1 [mA]
Igm = 0.1 [mA]
Insert these values in equation (11.1).
Ig 10 • {10 + 0 + 0.1 + 1 • (0.1 + 0.1)}

4 [mA]
According to the result of calculation, use a leakage current breaker having the rated sensitivity current
(Ig) of 4.0 [mA] or more.
A leakage current breaker having Ig of 15 [mA] is used with the NV-SP/SW/CP/CW/HW series.
11 - 51
11.16 EMC filter (recommended)
It is recommended that one of the following filters be used to comply with EN standard's EMC directive.
Some EMC filters have large in leakage current.
(1) Combination with the servo amplifier

Recommended filter (Soshin
Electric)
Servo amplifier Mass [kg]
Rated voltage Leakage current
Model Rated current [A]
[VAC: [mA]
MR-J4-10A to (Note) HF3010A-
10 3.5
MR-J4-100A UN
5
MR-J4-200A, (Note) HF3010A-
30 Max. 250 5.5
MR-J4-350A UN
MR-J4-500A, (Note) HF3010A-
40 6.5 6
MR-J4-700A UN
Note. A surge protector is separately required to use any of these EMC filters.

EMC filter Servo amplifier
MCCB MC
1 4 L1
(Note 1)
Power supply 2 5 L2
3 6 L3
E L11
L21
(Note 2)
1 2 3 Surge protector
(RSPD-250-U4)
(OKAYA Electric Industries Co., Ltd.)
Note 1. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3.
Leave L2 open.
2. The example is when a surge protector is connected.
11 - 52
(3) Dimensions
(a) EMC filter
HF3010A-UN
[Unit: mm]
3-M4 4-5.5 7 3-M4 M4
4
2
32
110
85
,1
(41)
258 4
65 4
273 2
288 4
300 5
HF3030A-UN/HF-3040A-UN
[Unit: mm]
6-K
3-L 3-L
1
2
1
2
G
D
E
F
J 2
C 1 C 1
B 2 H 2
A 5
Dimensions [mm]
Model
A B C D E F G H J K L M
HF3030A-UN R3.25 length:
260 210 85 155 140 125 44 140 70 M5 M4
HF3040A-UN 8
11 - 53
(b) Surge protector
RSPD-250-U4 [Unit: mm]

1 2 3
5.5 ± 1
11 ± 1
28.5 ± 1
Resin
Lead
200 +30
0
1 2 3
4.5 ± 0.5
28 ± 1
Case
41 ± 1
11 - 54
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APPENDIX
App. 1 Auxiliary equipment manufacturer (for reference)
Names given in the table are as of January 2012.

Manufacturer Reference
JST J.S.T. Mfg. Co., Ltd.
Junkosha Purchase from Toa Electric Industry Co. Ltd.,
Nagoya Branch
3M 3M
Soshin Electric Soshin Electric Co., Ltd.
TE Connectivity TE Connectivity Ltd. Company
Molex Molex
App. 2 Handling of AC servo amplifier batteries for the United Nations Recommendations
on the Transport of Dangerous Goods
United Nations Recommendations on the Transport of Dangerous Goods Rev. 15 (hereinafter

Recommendations of the United Nations) has been issued. To reflect this, transport regulations for lithium
metal batteries are partially revised in the Technical Instruction (ICAO-TI) by the International Civil Aviation
Organization (ICAO) and the International Maritime Dangerous Goods Code (IMDG Code) by the
International Maritime Organization (IMO).
To comply the instruction and code, we have modified the indication on the package for general-purpose AC
servo batteries.
The above change will not affect the function and performance of the product.
(1) Target model

(a) Battery (cell)
Model Option model
ER6 MR-J3BAT
ER17330 MR-BAT, A6BAT
(b) Battery unit (assembled)

Model Option model
ER17330 MR-J2M-BT
MR-BAT6V1
CR17335A
MR-BAT6V1SET
(2) Purpose
Safer transportation of lithium metal batteries.
(3) Change in regulations

The following points are changed for lithium metal batteries transportation by sea or air due to
Recommendations of the United Nations Rev. 15 and ICAO-TI 2009-2010 edition. For lithium metal
batteries, cells are classified as UN3090, and batteries contained in or packed with equipment are
classified as UN3091.
(a) A package containing 24 cells or 12 batteries or less that are not contained in equipment are no
longer exempt from the following: attachment of a handling label, submission of the Shipper's
Declaration for Dangerous Goods, and a 1.2 m drop test.
(b) A battery handling label (size: 120 mm × 110 mm) is required. Emergency telephone number must
be filled out in the additional handling information of the Shipper's Declaration for Dangerous Goods.
App. - 1
APPENDIX
(c) New handling label design containing battery illustration must be used. (only air transportation)
Figure. Example of Mitsubishi Label with Battery Illustration
(4) Action taken by Mitsubishi

The following caution will be added to the packages of the target batteries.
"Containing lithium metal battery. Regulations apply for transportation."
(5) Transportation precaution for customers

For sea or air transportation, attaching the handling label (figure) and the Shipper's Declaration for
Dangerous Goods are required to the package of a Mitsubishi cell or battery. In addition, attaching them
to the outer package containing several packages of Mitsubishi cells or batteries are also required.
Please attach the documentations in the specified design to the packages and the outer packages.
App. - 2
APPENDIX
App. 3 Symbol for the new EU Battery Directive
Symbol for the new EU Battery Directive (2006/66/EC) that is plastered to general-purpose AC servo battery
is explained here.

Note. This symbol mark is for EU countries only.
This symbol mark is according to the directive 2006/66/EC Article 20 Information for end-users and Annex II.
Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and
components which can be recycled and/or reused.
This symbol means that batteries and accumulators, at their end-of-life, should be disposed of separately
from your household waste.
If a chemical symbol is printed beneath the symbol shown above, this chemical symbol means that the
battery or accumulator contains a heavy metal at a certain concentration.
This will be indicated as follows.
Hg: mercury (0.0005%), Cd: cadmium (0.002%), Pb: lead (0.004%)
In the European Union there are separate collection systems for used batteries and accumulators. Please,
dispose of batteries and accumulators correctly at your local community waste collection/recycling centre.
Please, help us to conserve the environment we live in!
App. 4 Compliance with the CE marking
This servo amplifier is designed to comply with EN61800-3 and EN61800-5-1 standard.
App. 4.1 What is CE marking?
The CE marking is mandatory and must be affixed to specific products placed on the European Union. When
a product conforms to the requirements, the CE marking must be affixed to the product. The CE marking
also applies to machines and equipment incorporating servos.
(1) EMC directive

The EMC directive applies to the servo units alone. This servo is designed to comply with the EMC
directive. The EMC directive also applies to machines and equipment incorporating servos. This requires
the EMC filters to be used with machines and equipment incorporating servos to comply with the EMC
directive.
(2) Low voltage directive

The low voltage directive also applies to servo units alone. This servo is designed to comply with the low
voltage directive.
App. - 3
APPENDIX
(3) Machinery directive

The MR-J4 series servo amplifiers comply with the safety component laid down in the Machinery
directive.
Do not allow using the machine until the machine in which this servo amplifier is mounted is declared to
comply with the machinery directive.
App. 4.2 For compliance
Be sure to perform an appearance inspection of every unit before installation. In addition, have a final
performance inspection on the entire machine/system, and keep the inspection record.
(1) Servo amplifiers and servo motors used

Use servo amplifiers and servo motors which standard product.
Servo amplifier: MR-J4-10A, MR-J4-20A, MR-J4-40A, MR-J4-60A, MR-J4-70A, MR-J4-100A,
MR-J4-200A, MR-J4-350A, MR-J4-500A, MR-J4-700A
Servo motor : HG-MR_, HG-KR_, HG-SR_
(2) Structure
To comply with the CE marking, configure each equipment as follows.
Cabinet
೙ᓮ⋚
Reinforced
insulating
ᒝൻ⛘✼ဳ type
24 V DC
DC24V
power
㔚Ḯ
supply
Molded
ࡁ࡯ࡅࡘ࡯࠭ case Magnetic
circuit
ㆤᢿེ breaker 㔚⏛ធ⸅ེ
contactor Servo motor
ࠨ࡯ࡏࡕ࡯࠲
Servo
ࠨ࡯ࡏ
MCCB MC amplifier
ࠕࡦࡊ M
(3) Environment
(a) Operate the servo amplifier at pollution degree 2 or 1 set forth in EN 61800-5-1. For this purpose,
install the servo amplifier in a cabinet which is protected against water, oil, carbon, dust, dirt, etc.
(IP54).
(b) Use the equipment under the following environment.

Item Environment
(Note 2) 0 ÛC to 55 ÛC (non-
(Note 1) Ambient Operation
freezing)
temperature
Storage/transportation -20 ÛC to 65 ÛC (non-freezing)
Operation/storage/transpor
Ambient humidity 90% RH or less (non-condensing)
tation
Operation/storage 1000 m or shorter
Altitude
Transportation 10000 m or shorter
Note 1. Ambient temperature is the internal temperature of the cabinet.

2. The servo amplifier of under 3.5 kW for 200 V class can be mounted closely. In this
case, keep the ambient temperature within 0 ÛC to 45 ÛC or use the servo amplifier
with 75% or less of the effective load ratio.
App. - 4
APPENDIX
(4) Power supply

(a) This servo amplifier can be supplied from star-connected supply with earthed neutral point of
overvoltage category III set forth in EN 61800-5-1. However, when you use the neutral point of 400 V
system for single phase supply, a reinforced insulating transformer is required in the power input
section.
(b) The control circuit provides safe separation to the main circuit in the servo amplifier. For the interface
power supply, use an external 24 V DC power supply with reinforced insulation on I/O terminals.
(5) Grounding
(a) To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the
servo amplifier to the protective earth (PE) of the cabinet.
(b) Do not connect two grounding cables to the same protective earth (PE) terminal. Always connect
cables to the terminals one-to-one.
PE terminal
PE┵ሶ
PE terminal
PE┵ሶ
(c) If using a leakage circuit breaker, always ground the protective earth (PE) terminal of the servo
amplifier to prevent an electric shock.
(6) Wiring
(a) The wires to be connected to the terminal block of the servo amplifier must have crimping terminals
provided with insulating tubes to prevent contact with adjacent terminals.
Insulating
⛘✼࠴ࡘ࡯ࡉ tube
Wire
㔚✢
Crimp ࿶⌕┵ሶ
terminal
(b) Use the servo motor-side power connector which complies with EN. The EN compliant power
connector sets are available from us as options.
(c) The servo amplifier must be installed in the metal cabinet.
(7) Peripheral devices/options

(a) Use the molded case circuit breaker and magnetic contactor models which are EN-compliant
products given in the MR-J4 Series Servo Amplifier Instruction Manual. Use a leakage current
device (RCD) of type B as necessary. When it is not used, provide insulation between the servo
amplifier and other device by double insulation or reinforced insulation, or install a transformer
between the main power supply and the servo amplifier.
Refer to App. 5 (8) for molded case circuit breakers and fuses.
(b) The sizes of the wires given in the MR-J4 Series Servo Amplifier Instruction Manual meet the
following conditions. For use in any other conditions, follow table 6 and Annex D of EN 60204-1.
Ambient temperature: 40 ÛC
Insulator: PVC (polyvinyl chloride)
Route the wires on wall surface or open cable tray.
(c) Use shielded wires for I/O power wires.
(d) Use EMC filters of HF3000A-UN series manufactured by Soshin Electric.
App. - 5
APPENDIX
(e) Use the surge protector of RSPD-250-U4 manufactured by Okaya Electric Industries.
(8) Performing EMC tests

When EMC tests are run on a machine and device into which the servo amplifier has been installed, it
must conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied
the operating environment/electrical equipment specifications.
For EMC directive conforming methods about servo amplifiers, refer to the EMC Installation Guidelines
(IB(NA)67310).
(9) Short Circuit Current Rating (SCCR)

We confirmed in the short-circuit test that this servo amplifier is suitable for use in a circuit rated at 100
kA RMS or less, and maximum voltage 500 V.

Refer to App. 5 (9) for configuration diagram.
App. 5 Compliance with UL/CSA standard
This servo amplifier is designed to comply with UL 508C and CSA C22.2 No.14 standard.
For the situation of safety certification, contact your local sales office.
(1) Servo amplifiers and servo motors used

Use servo amplifiers and servo motors which standard product.
Servo motor
Servo amplifier
HG-MR HG-KR HG-SR
MR-J4-10A 053/13 053/13
MR-J4-20A 23 23
MR-J4-40A 43 43
MR-J4-60A 51/52
MR-J4-70A 73 73
MR-J4-100A 81/102
MR-J4-200A 121/152/201/202
MR-J4-350A 301/352
MR-J4-500A 421/502
MR-J4-700A 702
App. - 6
APPENDIX
(2) Installation
The MR-J4 series have been approved as the products which have been installed in a cabinet. The
minimum cabinet size is based on 150% of each MR-J4 combination. And also, design the cabinet so
that the ambient temperature in the cabinet is 55 ÛC or less.
The servo amplifier must be installed in the metal cabinet.
To ensure safety, do not touch the charging section for 15 minutes after power-off.
Item Environment
(Note 2) 0 ÛC to 55 ÛC
(Note 1) Ambient Operation
(non-freezing)
temperature
Storage/transportation -20 ÛC to 65 ÛC (non-freezing)
Ambient humidity Operation/storage/transportation 90% RH or less (non-condensing)
Operation/storage 1000 m or shorter
Altitude
Transportation 10000 m or shorter
Note 1. Ambient temperature is the internal temperature of the cabinet.

2. The servo amplifier of under 3.5 kW for 200 V class can be mounted closely. In this
case, keep the ambient temperature within 0 ÛC to 45 ÛC or use the servo amplifier
with 75% or less of the effective load ratio.
(3) Short Circuit Current Rating (SCCR)

We confirmed in the short-circuit test that this servo amplifier is suitable for use in a circuit rated at 100
kA RMS or less, and maximum voltage 500 V.
(4) Overload protection characteristics

Servo amplifier MR-J4 series has solid-state servo motor overload protection. (It is set on the basis (full
load current) of 120% rated current of the servo amplifier.)
(5) Selection example of wires

To comply with the UL/CSA standard, use UL-approved copper wires rated at 75 ÛC for wiring.
The following table shows the wire sizes [AWG] and the crimping terminal symbols rated at 75 ÛC.
(Note 2) Wires [AWG]
Servo amplifier
L1/L2/L3/ L11/L21 P+/C/D U/V/W
MR-J4-10A/MR-J4-20A/
MR-J4-40A/MR-J4-60A/ 14
MR-J4-70A/MR-J4-100A 14 14
MR-J4-200A 12 (Note 3)
MR-J4-350A 10
(Note 1) MR-J4-500A 8: a 14: c
14: c
(Note 1) MR-J4-700A 8: b 12: a
Note 1. To connect these models to a terminal block, be sure to use the screws that come with the terminal block.
2. Alphabets in the table indicate crimping tools. Refer to the following table for the crimping terminals and crimping tools.
3. The wire size depends on the servo motor characteristics.
App. - 7
APPENDIX
Table: Recommended crimp terminals

Symbol (Note 2) Crimp Manufacturer
Applicable tool
terminals
a FVD5.5-4 YNT-1210S
(Note 1) 8-4NS YHT-8S JST
b
c FVD2-4 YNT-1614
Note 1. Coat the crimping part with an insulation tube.

2. Always use recommended crimp terminals or equivalent since some crimp
(6) Tightening torque of each terminal

Tightening torque [N•m]
Servo amplifier
L1 L2 L3 N- P3 P4 P+ C D L11 L21 U V W PE
1.2
MR-J4-70A/MR-J4-100A/
MR-J4-200A/MR-J4-350A
MR-J4-500A 1.2 0.8 1.2
MR-J4-700A 1.2 0.8 1.2
(7) About wiring protection

For installation in United States, branch circuit protection must be provided, in accordance with the
National Electrical Code and any applicable local codes.
For installation in Canada, branch circuit protection must be provided, in accordance with the Canada
Electrical Code and any applicable provincial codes.
(8) Options and peripheral devices

Use the UL/CSA standard-compliant products.
Use the molded case circuit breaker (UL489 Listed MCCB) or a Class T fuse indicated in the table
below.
Molded case circuit breaker Fuse
Servo amplifier
Current Voltage AC [V] Current [A] Voltage AC [V]
MR-J4-10A
MR-J4-20A
50 A frame 5 A
MR-J4-40A 10
MR-J4-60A
MR-J4-70A
50 A frame 10 A 240 300
MR-J4-100A 15
MR-J4-200A 50 A frame 20 A 40
MR-J4-350A 50 A frame 30 A 60
MR-J4-500A 50 A frame 40 A 80
MR-J4-700A 50 A frame 50 A 100
App. - 8
APPENDIX

Representative configuration diagram example to conform to the UL/CSA standard is shown below. The
grounding wiring is excluded from the figure configuration.
Malfunction
᡿㓚 OFF
ࠝࡈ ON
RA1
RA1 ࠝࡦ M
C
MC
EMG
㕖Ᏹ஗ᱛ stop SK
switch
ࠬࠗ࠶࠴
MCCB
MCCB
or
߹ߚߪ Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
fuse
ࡅࡘ࡯࠭ MC
3-phase
㔚Ḯ L1
200 V AC to
ਃ⋧AC200V L2
㨪240V
240 V AC L3
L11 CN1
L21 Controller
ࠦࡦ࠻ࡠ࡯࡜
MCCB
MCCB CN2
߹ߚߪ
or Encoder cable
ࠛࡦࠦ࡯࠳ࠤ࡯ࡉ࡞
ࡅࡘ࡯࠭
fuse U࡮V࡮W
Cabinet
೙ᓮ⋚஥side
Servo motor
ࠨ࡯ࡏࡕ࡯࠲ Machine
ᯏ᪾஥side
Encoder
ࠛࡦࠦ࡯࠳
(10) Power supply

The control circuit provides safe separation to the main circuit in the servo amplifier.
Connector/terminal
Main circuit CNP1/CNP2/CNP3/TE1/TE2/TE3/TE4
Control circuit CN1/CN2/CN3/CN4/CN5/CN8
(11) UL/CSA standard certification mark on products

The following mark shows UL/CSA standard certification of MR-J4 multi-axis servo amplifiers.
Mark Certification Body Remarks
TUV Rheinland of North America Inc. NRTL listing mark (UL 508C)
Independent public testing institution in North America
National recognized testing laboratory (NRTL)
App. 6 Compliance with KC mark
For the situation of compliance, contact your local sales office.
When you use the products in South Korea, note the following.
決匶匶垚櫋怺殯 (A 匏) 洊沖砒洇穯匶匶嵢昢砖廪沖嬖垚斲殯沖垚決洖汊渂汞穞柢匶愚岂彶, 儆洛歾汞

滆櫳櫖昢斲殯穞垚冉汊徯洇求嵢穯城埪 .
(The product is for business use (Class A) and meets the electromagnetic compatibility requirements. The
seller and the user must note the above point, and use the product in a place except for home.)
App. - 9
APPENDIX
App. 7 MR-J3-D05 Safety logic unit
App. 7.1 Contents of the package
Open packing, and confirm the content of packing.

Contents Quantity
MR-J3-D05 Safety logic unit 1
Connector for CN9 1-1871940-4 (TE Connectivity) 1
Connector for CN10 1-1871940-8 (TE Connectivity) 1
MR-J3-D05 Installation Guide 1
App. 7.2 Terms related to safety
App. 7.2.1 Stop function for IEC/EN 61800-5-2
(1) STO function (Refer to IEC/EN 61800-5-2: 2007 4.2.2.2 STO.)

This function is integrated into the MR-J4 series servo amplifiers.
The STO function shuts down energy to servo motors, thus removing torque. This function electronically
cuts off power supply in servo amplifiers for MR-J4 series servo amplifiers.
The purpose of this safety function is as follows.
1) Uncontrolled stop according to stop category 0 of IEC/EN 60204-1
2) Preventing unexpected start-up
(2) SS1 function (Refer to IEC 61800-5-2: 2007 4.2.2.3C Safe stop 1 temporal delay.)
SS1 is a function which initiates the STO function when the previously set delay time has passed after
the servo motor starts decelerating. The delay time can be set with MR-J3-D05 safety logic unit.
The purpose of this safety function is as follows. This function is available by using a MR-J4 series servo
amplifier with MR-J3-D05.
Controlled stop according to stop category 1 of IEC/EN 60204-1
App. 7.2.2 Emergency operation for IEC/EN 60204-1
(1) Emergency stop (Refer to IEC/EN 60204-1: 2005 9.2.5.4.2 Emergency Stop.)
Emergency stop must override all other functions and actuation in all operation modes. Power to the
machine driving part which may cause a hazardous state must be either removed immediately (stop
category 0) or must be controlled to stop such hazardous state as soon as possible (stop category 1).
Restart must not be allowed even after the cause of the emergency state has been removed.
(2) Emergency switching off (Refer to IEC/EN 60204-1: 2005 9.2.5.4.3 Emergency Switching OFF.)
Removal of input power to driving device to remove electrical risk and to meet above mentioned safety
standards.
App. - 10
APPENDIX
App. 7.3 Cautions
The following basic safety notes must be read carefully and fully in order to prevent injury to persons or
damage to property.
Only qualified personnel are authorized to install, start-up, repair or service the machines in which these
components are installed.
They must be familiar with all applicable local safety regulations and laws in which machines with these
components are installed, particularly the standards and guidelines mentioned in this Instruction Manual and
the requirements mentioned in ISO/EN ISO 13849-1, IEC/EN 61508, IEC/EN 61800-5-2, and IEC/EN 60204-
1.
The staff responsible for this work must be given express permission from the company to perform start-up,
programming, configuration, and maintenance of the machine in accordance with the safety standards.
Improper installation of the safety related components or systems may cause

WARNING improper operation in which safety is not assured, and may result in severe
injuries or even death.
Protective Measures
As described in IEC/EN 61800-5-2, the Safe Torque Off (STO) function only prevents the servo amplifier
from supplying energy to the servo motor. Therefore, if an external force acts upon the drive axis,
additional safety measures, such as brakes or counter-weights must be used.
App. 7.4 Residual risk
Machine manufacturers are responsible for all risk evaluations and all associated residual risks. Below are
residual risks associated with the STO/EMG function. Mitsubishi is not liable for any damages or injuries
caused by the residual risks.
(1) The SS1 function only guarantees the delay time before STO/EMG is engaged. Proper setting of this
delay time is the full responsibility of the company and/or individuals responsible for installation and
commissioning of the safety related system. The system, as a whole, must pass safety standards
certification.
(2) When the SS1 delay time is shorter than the required servo motor deceleration time, if the forced stop
function is malfunctioning, or if STO/EMG is engaged while the servo motor is still rotating; the servo
motor will stop with the dynamic brake or freewheeling.
(3) For proper installation, wiring, and adjustment, thoroughly read the manual of each individual safety
related component.
(4) Be sure that all safety related switches, relays, sensors, etc., meet the required safety standards.
The Mitsubishi Electric safety related components mentioned in this manual are certified by Certification
Body as meeting the requirements of ISO/EN ISO 13849-1 Category 3, PL d and IEC/EN 61508 SIL 2.
(5) Safety is not assured until safety-related components of the system are completely installed or adjusted.
(6) When replacing a servo amplifier etc. or MR-J3-D05 safety logic unit, confirm that the new equipment is
exactly the same as those being replaced. Once installed, be sure to verify the performance of the safety
functions before commissioning the system.
App. - 11
APPENDIX
(7) Perform all risk assessments and safety level certification to the machine or the system as a whole.
It is recommended that a Certification Body final safety certification of the system be used.
(8) To prevent accumulation of multiple malfunctions, perform a malfunction check at regular intervals as
deemed necessary by the applicable safety standard. Regardless of the system safety level, malfunction
checks should be performed at least once per year.
(9) If the upper and lower power module in the servo amplifier are shorted and damaged simultaneously, the
servo motor may make a half revolution at a maximum.
App. 7.5 Block diagram and timing chart
(1) Function block diagram

A-axis circuit
Aゲ࿁〝
+24V SRESA+ SRESA- TOF1A TOF2A TOFA STO1A+ STO2A+ SDO1A+ SDO2A+
Safety logic
቟ోࡠࠫ࠶ࠢ
DCDC TIMER1
DCDC㔚Ḯ
power
B-axis
Bゲ࿁〝 circuit
TIMER2
0V SDI1A- SDI2A- SDI1B- SDI2B- STO1A- STO2A- SDO1A- SDO2A-

SW1 SW2
(2) Operation sequence
Power
㔚Ḯ supply
15 ms or longer
15msએ਄
A-axis
Aゲㆤᢿ1 shutdown 2
1 and 2ㅢ㔚(㐽)
Energizing (close)
SDI
B-axis
Bゲㆤᢿ1 shutdown 2
1 and 2ㆤᢿ(㐿)
Shut-off (open)
50 ms or longer
50msએ਄
A-axis
Aゲㆤᢿ⸃㒰EMG start/reset Release
⸃㒰(㐽) (close)
SRES
B-axis
Bゲㆤᢿ⸃㒰EMG start/reset Normal
ㅢᏱ(㐿) (open)
10 ms or shorter
10msએਅ Shut off delay (SW1
ㆤᢿㆃᑧ(SW1 and SW2) (Note)
SW2)(ᵈ)
AゲSTO1
A-axis STO state 2 Normal (close)
1 and 2ㅢᏱ(㐽)
STO
BゲSTO1
B-axis STO state 2 Shut-off (open)
1 and 2ㆤᢿ(㐿)
STO status
STO⁁ᘒ Control
೙ᓮน⢻⁁ᘒ enabled STO status
STO⁁ᘒ
Control
೙ᓮน⢻⁁ᘒ enabled
Note. Refer to App. 7.10.
App. - 12
APPENDIX
App. 7.6 Maintenance and disposal
MR-J3-D05 safety logic unit is equipped with LED displays to check errors for maintenance.
Please dispose this unit according to your local laws and regulations.
App. 7.7 Functions and configuration
App. 7.7.1 Introduction
The safety logic unit MR-J3-D05 has two systems in which the each system has SS1 function (delay time)
and output of STO function.
App. - 13
APPENDIX
App. 7.7.2 Specifications

Safety logic unit model MR-J3-D05
Voltage 24 V DC
Control circuit Permissible
24 V DC ± 10%
power supply voltage fluctuation
Power supply
[A] 0.5 (Note 1, 2)
capacity
Compatible
2 systems (A-axis, B-axis independent)
system
Shut-off input 4 points (2 point × 2 systems) SDI_: (source/sink compatible) (Note 3)
Shut-off
2 points (1 point × 2 systems) SRES_: (source/sink compatible) (Note 3)
release input
Feedback input 2 points (1 point × 2 systems) TOF_: (source compatible) (Note 3)
Input type Photocoupler insulation, 24 V DC (external supply), internal limited resistance 5.4 kȍ
STO_: (source compatible) (Note 3)
Shut-off output 8 points (4 point × 2 systems)
SDO_: (source/sink compatible) (Note 3)
Photocoupler insulation, open-collector type
Output type
Permissible current: 40 mA/1 output, Inrush current: 100 mA/1 output
A-axis: Select from 0 s, 1.4 s, 2.8 s, 5.6 s, 9.8 s, or 30.8 s.
Delay time
B-axis: Select from 0 s, 1.4 s, 2.8 s, 9.8 s, or 30.8 s.
setting
Accuracy: ±2%
STO, SS1 (IEC/EN 61800-5-2)
Safety function
EMG STOP㧘EMG OFF IEC/EN 60204-1)
Standards certified EN ISO 13849-1 category 3 PL d, EN 61508 SIL 2, EN 62061 SIL CL 2, and EN 61800-5-2 SIL
by CB 2
Response
performance
10 ms or less (STO input off ĺ shut-off output off)
(when delay time
is set to 0s)
Test pulse input Test pulse interval: 1 Hz to 25 Hz
(STO) (Note 4) Test pulse off time: Up to 1 ms
Safety
performance Mean time to
dangerous failure 516 years
(MTTFd)
Diagnosis
93.1%
converge (DC avg)
Average
probability of -9
4.75 × 10 [1/h]
dangerous failures
per hour (PFH)
LVD: EN 61800-5-1
Compliance to
CE marking EMC: EN 61800-3
standards
MD: EN ISO 13849-1㧘EN 61800-5-2㧘EN 62061
Structure Natural-cooling, open (IP rating: IP 00)
Ambient
0 °C to 55 °C (non-freezing), storage: -20 °C to 65 °C (non-freezing)
temperature
Ambient humidity 90% RH or less (non-condensing), storage: 90% RH or less (non-condensing)
Environment Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude Max. 1000 m above sea level
2
Vibration 5.9 m/s or less at 10 Hz to 55 Hz (directions of X, Y, and Z axes)
Mass [kg] 0.2 (including CN9 and CN10 connectors)
Note 1. Inrush current of approximately 1.5 A flows instantaneously when turning the control circuit power supply on. Select an
2. appropriate capacity of power supply considering the inrush current.
3. Power-on duration of the safety logic unit is 100,000 times.
4. _: in signal name indicates a number or axis name.
This function diagnoses malfunction of contacts including an external circuit by shortly turning off signals from a controller to
the servo amplifier at a constant period while input signals of the servo amplifier are on.
App. - 14
APPENDIX
App. 7.7.3 When using MR-J3-D05 with a MR-J4 series servo amplifier
(1) System configuration diagram
POINT
The STO cable (MR-D05UDL-M) for MR-J3 series is not available.
MR-J3-D05
Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
Power Magnetic
supply
㔚Ḯ contactor
㔚⏛ធ⸅ེ
L1
L2
L3
CN8
MCCB
STO switch
STOࠬࠗ࠶࠴ CN9
MR-D05UDL3M-B
cable
ࠤ࡯ࡉ࡞
U STO release switch

STO⸃㒰ࠬࠗ࠶࠴
V
W
CN10
FG
Servo motor
ࠨ࡯ࡏࡕ࡯࠲
App. - 15
APPENDIX

DC24V
MR-J3-D05
CN9
(ᵈ) (ᵈ)
SDI1A+ 1A
SW1 SW2
SDI1A- 1B
Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
CN8 SDO1A+ 4A
4 STO1 SDO1A- 4B
5 STO2 CN10
SDI2A+ 3A
3 STOCOM
STOA
SDI2A- 3B
6 TOFB1
SRESA+ 1A
RESA
7 TOFB2 SRESA- 1B
SDO2A+ 6A
8 TOFCOM
SDO2A- 6B
CN3 TOFA 8A
EM2 (A-axis)
EM2(Aゲ)
CN9
SDI1B+ 2A
SDI1B- 2B
Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
CN8 SDO1B+ 3A
4 STO1 SDO1B- 3B
5 STO2 CN10
SDI2B+ 4A
3 STOCOM
STOB
SDI2B- 4B
6 TOFB1
SRESB+ 2A
RESB FG
7 TOFB2 SRESB- 2B
SDO2B+ 5A
8 TOFCOM
SDO2B- 5B
CN3 TOFB 8B
EM2 (B-axis)
EM2(Bゲ)
+24V 7A
0V 7B
Note. Set the delay time of STO output with SW1 and SW2. These switches are located where dented from the front panel.
App. - 16
APPENDIX
(3) Description of signal and function

The following table lists which operation, the forced stop deceleration or the dynamic brake, will function
for each signal input or power-off.
Forced stop
Input signal to deceleration
MR-J4 series Signal logic Description : operates Remarks
servo amplifier : does not
operate
Normally closed Decelerating to stop
EM2
contact opens signal
Normally closed
STO1 STO1 shut-off signal -
contact opens
Normally closed
STO2 STO2 shut-off signal -
contact opens
Normally closed
LSP Stroke end +
contact opens Unlike the decelerating to stop signal, RES and SON
Normally closed are prioritized.
LSN Stroke end -
contact opens
Normally open
Reset command Alarm reset -
contact closes
Servo-on Normally open
Servo-off -
command contact opens
Servo amplifier
control circuit Decelerating to stop starts with dynamic brake after
power supply control circuit power supply shut-off is detected.
shut-off
Servo amplifier
Deceleration to stop starts at the detection voltage of
main circuit
[AL. 10 Undervoltage], and the dynamic brake starts at
power supply
80% of the detection voltage.
shut-off
(4) Basic operation example

The following shows when you use MR-J3-D05 with a MR-J4 series servo amplifier.
The switching of STOA is output to CN8A and usually is input to the MR-J4 series servo amplifier.
The switching of STOB is output to CN8B and usually is input to the MR-J4 series servo amplifier.
A-axis shutdown
Aゲㆤᢿ11 and
2 2 Energizing
ㅢ㔚(㐽) (close)
B-axis shutdown
Bゲㆤᢿ11 and
2 2 Shut-off
ㆤᢿ(㐿)(open)
Stop
஗ᱛ
EM2 input
EM2౉ജ Shut
ㆤᢿㆃᑧoff delay
Operation
ㆇォ
Energizing
ㅢᏱ(㐽) (close)
STO1㧘STO2 STO shut-off
STOㆤᢿਛ
Shut-off
ㆤᢿ(㐿) (open)
MR-J4 series
MR-J4䉲䊥䊷䉵
Servo motor speed
ࠨ࡯ࡏࡕ࡯࠲ㅦᐲ
0 r/min
Servo motor drivable
ࠨ࡯ࡏࡕ࡯࠲㚟േน⢻ STO status
STO⁁ᘒ
App. - 17
APPENDIX
App. 7.8 Signal
App. 7.8.1 Connector/pin assignment
(1) CN8A
(Note)
Device Symbol Pin No. Function/application
I/O
A-axis STO1 STO1A- 4 Outputs STO1 to A-axis driving device. O
STO1A+ 1 Outputs the same signal as A-axis STO2.
STO state (base shutdown): Between STO1A+ and STO1A- is opened.
STO release state (in driving): Between STO1A+ and STO1A- is closed.
A-axis STO2 STO2A- 5 Outputs STO2 to A-axis driving device. O
STO2A+ 6 Outputs the same signal as A-axis STO1.
STO state (base shutdown): Between STO2A+ and STO2A- is opened.
STO release state (in driving): Between STO2A+ and STO2A- is closed.
A-axis STO TOF2A 7 Inputs STO state of A-axis driving device. I
state TOF1A 8 STO state (base shutdown): Open between TOF2A and TOF1A.
STO release state (in driving): Close between TOF2A and TOF1A.
Note. Exclusive interface for MR-J4 series servo amplifiers.
(2) CN8B
(Note)
I/O
B-axis STO1 STO1B- 1 Outputs STO1 to B-axis driving device. O
STO1B+ 4 Outputs the same signal as B-axis STO2.
STO state (base shutdown): Between STO1B+ and STO1B- is opened.
STO release state (in driving): Between STO1B+ and STO1B- is closed.
B-axis STO2 STO2B- 5 Outputs STO2 to B-axis driving device. O
STO2B+ 6 Outputs the same signal as B-axis STO1.
STO state (base shutdown): Between STO2B+ and STO2B- is opened.
STO release state (in driving): Between STO2B+ and STO2B- is closed.
B-axis STO TOF2B 7 Inputs STO state of B-axis driving device. I
state TOF1B 8 STO state (base shutdown): Open between TOF2B and TOF1B.
STO release state (in driving): Close between TOF2B and TOF1B.
Note. Exclusive interface for MR-J4 series servo amplifiers.
(3) CN9
I/O
division
A-axis SDI1A+ 1A Connect this device to a safety switch for A-axis driving device. DI-1
shutdown 1 SDI1A- 1B Input the same signal as A-axis shutdown 2.
STO state (base shutdown): Open between SDI1A+ and SDI1A-.
STO release state (in driving): Close between SDI1A+ and SDI1A-.
B-axis SDI1B+ 2A Connect this device to a safety switch for B-axis driving device. DI-1
shutdown 1 SDI1B- 2B Input the same signal as B-axis shutdown 2.
STO state (base shutdown): Open between SDI1B+ and SDI1B-.
STO release state (in driving): Close between SDI1B+ and SDI1B-.
A-axis SDO1 SDO1A+ 4A Outputs STO1 to A-axis driving device. DO-1
SDO1A- 4B Outputs the same signal as A-axis SDO2.
STO state (base shutdown): Between SDO1A+ and SDO1A- is opened.
STO release state (in driving): Between SDO1A+ and SDO1A- is closed.
B-axis SDO1 SDO1B+ 3A Outputs STO1 to B-axis driving device. DO-1
SDO1B- 3B Outputs the same signal as B-axis SDO2.
STO state (base shutdown): Between SDO1B+ and SDO1B- is opened.
STO release state (in driving): Between SDO1B+ and SDO1B- is closed.
App. - 18
APPENDIX
(4) CN10
I/O
division
A-axis SDI2A+ 3A Connect this device to a safety switch for A-axis driving device. DI-1
shutdown 2 SDI2A- 3B Input the same signal as A-axis shutdown 1.
STO state (base shutdown): Open between SDI2A+ and SDI2A-.
STO release state (in driving): Close between SDI2A+ and SDI2A-.
B-axis SDI2B+ 4A Connect this device to a safety switch for B-axis driving device. DI-1
shutdown 2 SDI2B- 4B Input the same signal as B-axis shutdown 1.
STO state (base shutdown): Open between SDI2B+ and SDI2B-.
STO release state (in driving): Close between SDI2B+ and SDI2B-.
A-axis EMG SRESA+ 1A Signal for releasing STO state (base shutdown) on A-axis driving device. DI-1
start/reset SRESA- 1B Releases STO state (base shutdown) on A-axis driving device by switching between
SRESA+ and SRESA- from on (connected) to off (opened).
B-axis EMG SRESB+ 2A Signal for releasing STO state (base shutdown) on B-axis driving device. DI-1
start/reset SRESB- 2B Releases STO state (base shutdown) on B-axis driving device by switching between
SRESB+ and SRESB- from on (connected) to off (opened).
A-axis SDO2 SDO2A+ 6A Outputs STO2 to A-axis driving device. DO-1
SDO2A- 6B Outputs the same signal as A-axis STO1.
STO state (base shutdown): Between SDO2A+ and SDO2A- is opened.
STO release state (in driving): Between SDO2A+ and SDO2A- is closed.
B-axis SDO2 SDO2B+ 5A Outputs STO2 to B-axis driving device. DO-1
SDO2B- 5B Outputs the same signal as B-axis SDO1.
STO state (base shutdown): Between SDO2B+ and SDO2B- is opened.
STO release state (in driving): Between SDO2B+ and SDO2B- is closed.
Control circuit +24V 7A Connect + side of 24 V DC.
power supply
Control circuit 0V 7B Connect - side of 24 V DC.
power GND
A-axis STO TOFA 8A TOFA is internally connected with TOF2A.
state
B-axis STO TOFB 8B TOFB is internally connected with TOF2B.
state
App. 7.8.2 Interfaces
(1) Sink I/O interface (CN9, CN10 connector)

(a) Digital input interface DI-1
Turn on/off the input signal with a relay or open-collector transistor.
For transistor MR-J3-D05
SRESA-,
SRESA-
Approximately
⚂5mA5 mA etc.
ߥߤ
About 5.4 kȍ
⚂5.4k˖
Switch
ࠬࠗ࠶࠴
SRESA+,
SRESA+
TR
etc.
ߥߤ
VVCES ≦ 1.0 V
CES ҇ 1.0V 24DC24V
V DC ±±10%
10%
ICEO≦҇100
ICEO ȝA
100μA 200 mA
200mA
App. - 19
APPENDIX
(b) Digital output interface DO-1

A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an
inrush current suppressing resistor (R) for a lamp load. (Rated current: 40 mA or less, maximum
current: 50 mA or less, inrush current: 100 mA or less) A maximum of 2.6 V voltage drop occurs in
the MR-J3-D05.
MR-J3-D05
reversed, MR-J3-D05
㑆㆑߃ࠆߣMR-J3-D05
SDO2B+,
SDO2B+ Load
⽶⩄ will malfunction.
߇᡿㓚ߒ߹ߔ‫ޕ‬
etc.
ߥߤ
SDO2B-,
SDO2B-
etc.
ߥߤ
(Note) 24 V DC10%
(ᵈ)DC24V ± 10%
200mA
　　　200 mA
(2) Source I/O interfaces (CN9, CN10 connector)

In this servo amplifier, source type I/O interfaces can be used. In this case, all DI-1 input signals and
DO-1 output signals are of source type. Perform wiring according to the following interfaces.
(a) Digital input interface DI-1

MR-J3-D05
SRESA-,
SRESA-
etc.
ߥߤ
About 5.4 kȍ
⚂5.4k˖
Switch
ࠬࠗ࠶࠴
SRESA+,
SRESA+
ߥߤ
etc.
Approximately
⚂5mA 5 mA 24DC24V
V DC ±±10%
10%
VCES
VCES≦҇1.0 V
1.0V 200mA
200 mA
ICEO 100μA
ICEO≦҇100 ȝA
(b) Digital output interface DO-1

A maximum of 2.6 V voltage drop occurs in the servo amplifier.
MR-J3-D05
reversed, MR-J3-D05
㑆㆑߃ࠆߣMR-J3-D05
SDO2B+,
SDO2B+ Load
⽶⩄ will malfunction.
߇᡿㓚ߒ߹ߔ‫ޕ‬
ߥߤ
etc.
SDO2B-
SDO2B-,
ߥߤ
etc.
(Note) 24 V ±DC
(ᵈ)DC24V ± 10%
10%
200mAmA
　　　200
App. - 20
APPENDIX
App. 7.8.3 Wiring CN9 and CN10 connectors
Handle with the tool with care when connecting wires.
(1) Wire strip

(a) Use wires with size of AWG 24 to 20 (0.22 mm2 to 0.5 mm2) (recommended electric wire: UL1007)
and strip the wires to make the stripped length 7.0 mm ± 0.3 mm. Confirm the stripped length with
gauge, etc. before using the wires.
(b) If the stripped wires are bent, feazed or too thick due to twisting too much, fix the wires by twisting
lightly, etc. Then, confirm the stripped length before using the wires. Do not use excessively
deformed wires.
(c) Smooth out the wire surface and stripped insulator surface.
(2) Connecting wires

Before connecting wires, be sure to pull out the receptacle assembly from the header connector. If wires
are connected with inserted connector, the connector and the printed board may malfunction.
(a) Using extraction tool (1891348-1 or 2040798-1)

1) Dimensions and mass
[Unit: mm]
Mass : Approx. 20 g
App. - 21
APPENDIX
2) Connecting wires
a) Confirm the model number of the housing, contact and tool to be used.
b) Insert the tool diagonally into the receptacle assembly.
c) Insert the tool until it hits the surface of the receptacle assembly. At this
stage, the tool is vertical to the receptacle assembly.
d) Insert wires in the wiring hole till the end. The wires should be slightly
twisted in advance to prevent it from being feazed.
It is easy to insert the wire if the wire is inserted diagonally while twisting
the tool.
e) Remove the tool.
App. - 22
APPENDIX
(b) Using a screwdriver

To avoid damaging housings and springs when wiring with screwdriver, do not put excessive force.
Be cautious when connecting.
1) Adjusting screw driver
Diameter: 2.3 mm ± 0.05 mm Diameter: 2.5 mm ± 0.05 mm

Length: 120 mm or less Length: 120 mm or less
Width: 2.3 mm, Blade thickness: 0.25 mm Width: 2.5 mm, Blade thickness: 0.3 mm
Angle in tip of the blade: 18 ± 1 degrees Angle in tip of the blade: 12 ± 1 degrees
ĳ2.5 mm ± 0.05
2.5mm mm
0.05mm
ĳ2.3 mm ± 0.05
2.3mm mm
0.05mm 12Û ± 1Û
12
18 Û± 11Û
0.25 mm
0.25mm
2.3 mm
2.3mm 0.3 mm
0.3mm
2.5 mm
2.5mm
Screwdriver diameter: ĳ 2.3 mm Screwdriver diameter: ĳ 2.5 mm
2) Connecting wires
a) Insert a screwdriver in the front slot a little diagonally, and depress the spring. While
depressing the spring, insert the wires until they hit the end. Note that the housing and spring
may be damaged if the screwdriver is inserted strongly. Never insert the screwdriver in the
wire hole. Otherwise, the connector will be damaged.
b) Pull the screwdriver out while pressing the wires. Connecting wires is completed.
c) Pull the wire lightly to confirm that the wire is surely connected.
d) To remove the wires, depress the spring by the screwdriver in the same way as connecting
wires, and then pull the wires out.
Tool insertion slot

࠷࡯࡞ᝌ౉ࠬࡠ࠶࠻
Screw driver
࠼࡜ࠗࡃ
App. - 23
APPENDIX
(3) Connector insertion

Insert the connector all the way straight until you hear or feel clicking. When removing the connector,
depress the lock part completely before pulling out. If the connector is pulled out without depressing the
lock part completely, the housing, contact and/or wires may be damaged.
(4) Compatible wire

Compatible wire size is listed below.
Wire size
2
mm AWG
0.22 24
0.34 22
0.50 20
(5) Others
(a) Fix a wire tie at least distance of "A" × 1.5 away from the end of the connector.
(b) Be sure that wires are not pulled excessively when the connector is inserted.
App. 7.8.4 Wiring FG
Wire range
Single wire: ĳ 0.4 mm to 1.2 mm (AWG 26 to AWG 16)
Stranded wire: 0.2 mm2 to 1.25 mm2 (AWG 24 to AWG 16),
Bottom wire ĳ 0.18 mm or more
face
ᐩ㕙
Lead
࡝࡯࠼✢ wire
App. - 24
APPENDIX
App. 7.9 LED display
I/O status, malfunction and power on/off are displayed with LED for each A-axis and B-axis.
LED
LED Description Column Column
A B
Monitor LED for start/reset
Off: The start/reset is off. (The switch contact is
SRES opened.)
On: The start/reset is on. (The switch contact is
closed.)
Monitor LED for shut-off 1
Off: The shut-off 1 is off. (The switch contact is
SDI1 closed.)
On: The shut-off 1 is on. (The switch contact is
opened.)
Monitor LED for shut-off 2
Off: The shut-off 2 is off. (The switch contact is
SDI2 closed.)
On: The shut-off 2 is on. (The switch contact is
opened.)
Monitor LED for STO state A-axis B-axis
TOF Off: Not in STO state
On: In STO state
Monitor LED for SDO1
SDO1 Off: Not in STO state
On: In STO state
Monitor LED for SDO2
SDO2 Off: Not in STO state
On: In STO state
Monitor LED for confirming shutdown delay setting
SW Off: The settings of SW1 and SW2 do not match.
On: The settings of SW1 and SW2 match.
FAULT LED
FAULT Off: Normal operation (STO monitoring state)
On: Fault has occurred.
Power supply
POWER Off: Power is not supplied to MR-J3-D05.
On: Power is being supplied to MR-J3-D05.
App. 7.10 Rotary switch setting
Rotary switch is used to shut off the power after control stop by SS1 function.
Set the delay time for STO output after STO shut off switch is pressed. Set same setting for SW1 and SW2,
and set the rotary switch setting according to the delay time in the table below.
Setting cannot be changed while power is on. Notify users that setting cannot be changed by putting a seal
or by another method so that end users will not change the setting after the shipment.
0 to F in the following table is the set value of the rotary switches (SW1 and SW2).
Rotary switch setting and delay time at A/B-axis [s]

B-axis
0s 1.4 s 2.8 s 5.6 s 9.8 s 30.8 s
0s 0 1 2 - 3 4
1.4 s - 5 - 6 7
2.8 s 8 - 9 A
A-axis
5.6 s - B C
9.8 s D E
30.8 s F
App. - 25
APPENDIX
App. 7.11 Troubleshooting
When power is not supplied or FAULT LED turns on, refer the following table and take the appropriate
action.
Event Description Cause Action
Power is not supplied. Power LED does not turn on 1. 24 V DC power supply is Replace the 24 V DC power supply.
although power is supplied. malfunctioning.
2. Wires between MR-J3-D05 and 24 Check the wiring.
V DC power supply are
disconnected or are in contact with
other wires.
3. MR-J3-D05 is malfunctioning. Replace the MR-J3-D05.
FAULT LED is on. FAULT LED of A-axis or B- 1. The delay time settings are not Check the settings of the rotary
axis is on, and will not turn matched. switch.
off. 2. Switch input error Check the wiring or sequence of the
input signals.
3. TOF signal error Check the connection with the servo
amplifier.
4. MR-J3-D05 is malfunctioning. Replace the MR-J3-D05.
App. 7.12 Dimensions
[Unit: mm]
22.5
19.5
(80) 86 (22.5)
ĳ5 mounting
5ขઃߌⓣ hole 9.75
Rating
ቯᩰฬ᧼ plate 80 6 9.75
2-M4 screw
2-M4ߨߓ

ขઃߌⓣടᎿ࿑
FG
Mounting screw
Screw size: M4
Tightening torque: 1.2 N•m
Mass: 0.2 [kg]
App. - 26
APPENDIX
App. 7.13 Installation
Follow the instructions in this chapter and install MR-J3-D05 in the specified direction. Leave clearances
between MR-J3-D05 and other equipment including the cabinet.
Cabinet
೙ᓮ⋚ Cabinet
೙ᓮ⋚ Cabinet
೙ᓮ⋚
40
40mmmm Top
or
એ਄ longer 100 mm or longer
100mmએ਄ 80 mm or longer for ᄤ
10 mm or longer
㈩✢૛⵨
10mmએ਄ wiring
80mmએ਄
10 mm10mmએ਄
or longer 10 mm or
10mmએ਄ 30 mm or
30mmએ਄
longer longer
MR-J3-D05
MR-J3-D05
30 mm or Other MR-J3-D05
30mmએ਄ ઁߩᯏེ
longer device
40 mm
40mm 40 mm or longer
or longer 40mmએ਄ Bottom
࿾
એ਄
App. - 27
APPENDIX
App. 7.14 Combinations of cable/connector
POINT
The STO cable (MR-D05UDL-M) for MR-J3 series is not available.
MR-J3-D05 Servo
2) CN8
1)
Servo amplifier
ࠨ࡯ࡏࠕࡦࡊ
CN9
CN10
MR-J3-D05
MR-J3-D05ઃዻ 2) CN8
attachment
ࠦࡀࠢ࠲
connector
No. 0COG /QFGN &GUETKRVKQP

1) Connector MR-J3-D05
attachment
connector
Connector for CN9: 1-1871940-4 Connector for CN10: 1-1871940-8

(TE Connectivity) (TE Connectivity)
2) STO cable MR- Connector set: 2069250-1
D05UDL3M-B (TE Connectivity)
Cable length:
0.3/1/3 m
COMPLIANCE WITH THE MACHINERY DIRECTIVES
The MR-J3-D05 complies with the safety components laid down in the directive 2006/42/EC (Machinery).
App. - 28
APPENDIX
App. 8 EC declaration of conformity
The MR-J3-D05 safety logic unit complies with the safety component laid down in the Machinery directive.
App. - 29
APPENDIX
App.9 Analog monitor
The servo status can be output to two channels in terms of voltage.
(1) Setting
Change the following digits of [Pr. PC14] and [Pr. PC15].
[Pr. PC14]
[Pr.PC14]
0 0
Analog monitor 1 output selection
ࠕ࠽ࡠࠣࡕ࠾࠲1಴ജㆬᛯ
(the signal provided to the output across MO1 and LG)
(MO1-LG㑆ߦ಴ജߔࠆାภ)
[Pr. PC15]
[Pr.PC15]
0 0
Analog monitor 2 output selection
ࠕ࠽ࡠࠣࡕ࠾࠲2಴ജㆬᛯ
(MO2-LG㑆ߦ಴ജߔࠆାภ)
(the signal provided to the output across MO2 and LG)
[Pr. PC39] and [Pr. PC40] can be used to set the offset voltages to the analog output voltages. The
setting range is between -9999 mV and 9999 mV.
Parameter Description Setting range [mV]

PC39 This is used to set the offset voltage of MO1 (Analog monitor 1).
-9999 to 9999
PC40 This is used to set the offset voltage of MO2 (Analog monitor 2).
(2) Set content

The servo amplifier is factory-set to output the servo motor speed to MO1 (Analog monitor 1) and the
torque to MO2 (Analog monitor 2). The setting can be changed as listed below by setting the [Pr. PC14]
and [Pr. PC15] value.
Refer to (3) for the detection point.
Setting Setting
Output item Description Output item Description
value value
00 Servo motor speed CCW direction 01 Torque Power running in CCW direction
CCWᣇะ CCWᣇะ߳ജⴕ
88[V]
[V] 88[V]
[V]
Maximum
ᦨᄢ࿁ォㅦᐲ speed Maximum
ᦨᄢ࠻࡞ࠢ torque
0 Maximum
ᦨᄢ࿁ォㅦᐲ speed 0 Maximum
-8 [V]
-8[V] -8 [V]
-8[V]
CW direction
CWᣇะ CWᣇะ߳ജⴕ
Power running in CW direction
02 Servo motor speed CW direction 88[V]
[V] CCW direction
03 Torque 8 [V] Power running
Power running in
8[V]
CWᣇะ CCWᣇะ CW direction
CWᣇะ߳ജⴕ in CCW direction
CCWᣇะ߳ജⴕ
Maximum
ᦨᄢ࿁ォㅦᐲ speed 0 Maximum
ᦨᄢ࿁ォㅦᐲ speed
Maximum
ᦨᄢ࠻࡞ࠢ torque 0 Maximum
04 Current command CCW direction

CCWᣇะ 05 Command pulse CCW direction
CCWᣇะ
8 [V]
8[V] 8 [V]
10[V]
Maximum frequency
current command
ᦨᄢ㔚ᵹᜰ઎
(Maximum torque
(ᦨᄢ࠻࡞ࠢᜰ઎)
command) Maximum
4Mpps speed
0 0 Maximum speed
4Mpps
Maximum
ᦨᄢ㔚ᵹᜰ઎ current
command (Maximum
(ᦨᄢ࠻࡞ࠢᜰ઎)
torque command)
-8[V]
-8 [V] -8 [V]
-10[V]
CW direction
CWᣇะ CW direction
CWᣇะ
App. - 30
APPENDIX
Setting Setting
Output item Description Output item Description
value value
06 Servo motor-side CCW direction
CCWᣇะ 07 Servo motor-side CCW direction
CCWᣇะ
10 [V]
10[V] 10 [V]
10[V]
droop pulses droop pulses
(Note 1, 3, 5) (Note 1, 3, 5)
(±10 V/100 pulses) 100 [pulse]
100[pulse] (±10 V/1000 pulses) 1000 [pulse]
1000[pulse]
0 100 [pulse]
100[pulse] 0 1000 [pulse]
1000[pulse]
-10[V]
-10 [V] -10[V]
-10 [V]
CW direction
CWᣇะ
08 Servo motor-side CCW direction

CCWᣇะ 09 Servo motor-side CCW direction
CCWᣇะ
10 [V]
10[V] 10 [V]
10[V]
droop pulses droop pulses
(Note 1, 3, 5) (Note 1, 3, 5)
(±10 V/10000 pulses) 10000 [pulse]
10000[pulse] (±10 V/100000 100000 [pulse]
100000[pulse]
0 10000[pulse]
10000 [pulse] pulses) 0 100000 [pulse]
100000[pulse]
-10[V]
-10 [V] -10 [V]
-10[V]
CW direction
CWᣇะ
0A Feedback position CCW direction

CCWᣇะ 0B Feedback position CCW direction
CCWᣇะ
10 [V]
10[V] 10 [V]
10[V]
(Note 1, 2, 3) (Note 1, 2, 3)
(±10 V/1 Mpulse) (±10 V/10 Mpulse)
1M [pulse]
1M[pulse] 10M [pulse]
10M[pulse]
0 1M [pulse]
1M[pulse] 0 10M [pulse]
10M[pulse]
-10 [V]
-10[V] -10 [V]
-10[V]
CW direction
CWᣇะ
0C Feedback position CCW direction

CCWᣇะ 0D Bus voltage 88[V]
[V]
10 [V]
10[V]
(Note 1, 2, 3)
(±10 V/100 Mpulse)
100M [pulse]
100M[pulse]
0 0 400 [V]
400[V]
100M [pulse]
100M[pulse]
-10 [V]
-10[V]
CW direction
CWᣇะ
0E Speed command 2 CCW direction

CCWᣇะ 17 Encoder inside
88[V]
[V] 10 [V]
10[V]
(Note 3, 4) temperature (±10
128 °C)
V/±128ÛC)
Maximum
ᦨᄢ࿁ォㅦᐲ speed -128 [°C]
-128[°C]
0 Maximum
ᦨᄢ࿁ォㅦᐲ speed 0 128 [°C]
128[°C]
-8[V]
-8 [V] -10 [V]
-10[V]
CW direction
CWᣇะ
Note 1. Encoder pulse unit.

2. Available in position control mode
3. This cannot be used in the torque control mode.
4. This can be used with MR Configurator2 with software version 1.02C or later.
5. This cannot be used in the speed control mode.
App. - 31
APPENDIX
(3) Analog monitor block diagram
Speed
ᜰ઎ࡄ࡞ࠬ Droop pulses Speed Current + Bus voltage
command ḳࠅࡄ࡞ࠬ ㅦᐲᜰ઎2
command 2
㔚ᵹᜰ઎
command
Უ✢㔚࿶
๟ᵄᢙ
Current
㔚ᵹ
Speed encoder
ᬌ಴ེ
+ ㅦᐲᜰ઎
command +
Position
૏⟎ Speed
ㅦᐲ + Current
㔚ᵹ
Command
ᜰ઎ࡄ࡞ࠬ pulse control control PWM Servo motor
M ࠨ࡯ࡏࡕ࡯࠲
- ೙ᓮ - control
೙ᓮ - ೙ᓮ
Encoder
ࠛࡦࠦ࡯࠳ inside
temperature
ౝ᳇᷷ᐲ
Current feedback
㔚ᵹࡈࠖ࡯࠼ࡃ࠶ࠢ
Encoder
ࠛࡦࠦ࡯࠳
Differen-
ᓸಽ
tiation
Position feedback
૏⟎ࡈࠖ࡯࠼ࡃ࠶ࠢ
Feedback
ࡈࠖ࡯࠼ࡃ࠶ࠢ + Servo motor
ࠨ࡯ࡏࡕ࡯࠲ Torque
࠻࡞ࠢ
position
૏⟎ - speed
࿁ォㅦᐲ
Home position
ේὐ(CR౉ജ૏⟎)
(CR input position)
App. - 32

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General-Purpose AC Servo
General-Purpose Interface AC Servo

MODEL
MR-J4-_A
SERVO AMPLIFIER
MR-J4-_A SERVO AMPLIFIER INSTRUCTION MANUAL

INSTRUCTION MANUAL
MODEL MR-J4-A INSTRUCTIONMANUAL

MODEL
CODE 1CW804
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
This Instruction Manual uses recycled paper.

SH (NA) 030107-A (1203) MEE Printed in Japan Specifications subject to change without notice.
MITSUBISHI ELECTRIC
HEADQUARTERS EUROPEAN REPRESENTATIVES EUROPEAN REPRESENTATIVES EURASIAN REPRESENTATIVES

MITSUBISHI ELECTRIC EUROPE B.V. EUROPE GEVA AUSTRIA ALFATRADE Ltd. MALTA TOO Kazpromavtomatika KAZAKHSTAN
German Branch Wiener Straße 89 99, Paola Hill Ul. Zhambyla 28
Gothaer Straße 8 AT-2500 Baden Malta- Paola PLA 1702 KAZ-100017 Karaganda
D-40880 Ratingen Phone: +43 (0)2252 / 85 55 20 Phone: +356 (0)21 / 697 816 Phone: +7 7212 / 50 10 00
Phone: +49 (0)2102 / 486-0 Fax: +43 (0)2252 / 488 60 Fax: +356 (0)21 / 697 817 Fax: +7 7212 / 50 11 50
Fax: +49 (0)2102 / 486-1120 TECHNIKON BELARUS INTEHSIS srl MOLDOVA
MITSUBISHIELECTRICEUROPEB.V.-org.sl. CZECH REP. Oktyabrskaya 19, Off. 705 bld. Traian 23/1
Czech Branch BY-220030 Minsk MD-2060 Kishinev
Avenir Business Park, Radlická 714/113a Phone: +375 (0)17 / 210 46 26 Phone: +373 (0)22 / 66 4242 MIDDLE EAST REPRESENTATIVE
CZ-158 00 Praha 5 Fax: +375 (0)17 / 210 46 26 Fax: +373 (0)22 / 66 4280
Phone: +420 - 251 551 470 SHERF Motion Techn. Ltd. ISRAEL
ESCO DRIVES & AUTOMATION BELGIUM HIFLEX AUTOM.TECHNIEK B.V. NETHERLANDS Rehov Hamerkava 19
Fax: +420 - 251-551-471 Culliganlaan 3 Wolweverstraat 22 IL-58851 Holon
MITSUBISHI ELECTRIC EUROPE B.V. FRANCE BE-1831 Diegem NL-2984 CD Ridderkerk Phone: +972 (0)3 / 559 54 62
French Branch Phone: +32 (0)2 / 717 64 30 Phone: +31 (0)180 – 46 60 04 Fax: +972 (0)3 / 556 01 82
25, Boulevard des Bouvets Fax: +32 (0)2 / 717 64 31 Fax: +31 (0)180 – 44 23 55
F-92741 Nanterre Cedex CEG INTERNATIONAL LEBANON
Koning & Hartman b.v. BELGIUM Koning & Hartman b.v. NETHERLANDS Cebaco Center/Block A Autostrade DORA
Phone: +33 (0)1 / 55 68 55 68 Woluwelaan 31 Haarlerbergweg 21-23
Fax: +33 (0)1 / 55 68 57 57 Lebanon - Beirut
BE-1800 Vilvoorde NL-1101 CH Amsterdam Phone: +961 (0)1 / 240 430
MITSUBISHI ELECTRIC EUROPE B.V. IRELAND Phone: +32 (0)2 / 257 02 40 Phone: +31 (0)20 / 587 76 00 Fax: +961 (0)1 / 240 438
Irish Branch Fax: +32 (0)2 / 257 02 49 Fax: +31 (0)20 / 587 76 05
Westgate Business Park, Ballymount INEA RBT d.o.o. BOSNIA AND HERZEGOVINA Beijer Electronics AS NORWAY
IRL-Dublin 24 Aleja Lipa 56 Postboks 487
Phone: +353 (0)1 4198800 BA-71000 Sarajevo NO-3002 Drammen
Fax: +353 (0)1 4198890 AFRICAN REPRESENTATIVE
Phone: +387 (0)33 / 921 164 Phone: +47 (0)32 / 24 30 00
MITSUBISHI ELECTRIC EUROPE B.V. ITALY Fax: +387 (0)33 / 524 539 Fax: +47 (0)32 / 84 85 77 CBI Ltd. SOUTH AFRICA
Italian Branch AKHNATON BULGARIA Fonseca S.A. PORTUGAL Private Bag 2016
Viale Colleoni 7 4, Andrei Ljapchev Blvd., PO Box 21 R. João Francisco do Casal 87/89 ZA-1600 Isando
I-20041 Agrate Brianza (MB) BG-1756 Sofia PT - 3801-997 Aveiro, Esgueira Phone: + 27 (0)11 / 977 0770
Phone: +39 039 / 60 53 1 Phone: +359 (0)2 / 817 6000 Phone: +351 (0)234 / 303 900 Fax: + 27 (0)11 / 977 0761
Fax: +39 039 / 60 53 312 Fax: +359 (0)2 / 97 44 06 1 Fax: +351 (0)234 / 303 910
MITSUBISHI ELECTRIC EUROPE B.V. POLAND INEA RBT d.o.o. CROATIA Sirius Trading & Services srl ROMANIA
Poland Branch Losinjska 4 a Aleea Lacul Morii Nr. 3
Krakowska 50 HR-10000 Zagreb RO-060841 Bucuresti, Sector 6
PL-32-083 Balice Phone: +385 (0)1 / 36 940 - 01/ -02/ -03 Phone: +40 (0)21 / 430 40 06
Phone: +48 (0)12 / 630 47 00 Fax: +385 (0)1 / 36 940 - 03 Fax: +40 (0)21 / 430 40 02
Fax: +48 (0)12 / 630 47 01
AutoCont C.S. s.r.o. CZECH REPUBLIC INEA SR d.o.o. SERBIA
MITSUBISHI ELECTRIC EUROPE B.V. RUSSIA Technologická 374/6 Izletnicka 10
52, bld. 3 Kosmodamianskaya nab 8 floor CZ-708 00 Ostrava-Pustkovec SER-113000 Smederevo
RU-115054 Мoscow Phone: +420 595 691 150 Phone: +381 (0)26 / 615 401
Phone: +7 495 721-2070 Fax: +420 595 691 199 Fax: +381 (0)26 / 615 401
Fax: +7 495 721-2071
Beijer Electronics A/S DENMARK SIMAP s.r.o. SLOVAKIA
MITSUBISHI ELECTRIC EUROPE B.V. SPAIN Lykkegårdsvej 17 Jána Derku 1671
Spanish Branch DK-4000 Roskilde SK-911 01 Trencín
Carretera de Rubí 76-80 Phone: +45 (0)46/ 75 76 66 Phone: +421 (0)32 743 04 72
E-08190 Sant Cugat del Vallés (Barcelona) Fax: +45 (0)46 / 75 56 26 Fax: +421 (0)32 743 75 20
Phone: 902 131121 // +34 935653131
Fax: +34 935891579 Beijer Electronics Eesti OÜ ESTONIA PROCONT, spol. s r.o. Prešov SLOVAKIA
Pärnu mnt.160i Kúpelná 1/A
MITSUBISHI ELECTRIC EUROPE B.V. UK EE-11317 Tallinn SK-080 01 Prešov
UK Branch Phone: +372 (0)6 / 51 81 40 Phone: +421 (0)51 7580 611
Travellers Lane Fax: +372 (0)6 / 51 81 49 Fax: +421 (0)51 7580 650
UK-Hatfield, Herts. AL10 8XB
Phone: +44 (0)1707 / 27 61 00 Beijer Electronics OY FINLAND INEA RBT d.o.o. SLOVENIA
Fax: +44 (0)1707 / 27 86 95 Peltoie 37 Stegne 11
FIN-28400 Ulvila SI-1000 Ljubljana
MITSUBISHI ELECTRIC CORPORATION JAPAN Phone: +358 (0)207 / 463 540 Phone: +386 (0)1 / 513 8116
Office Tower “Z” 14 F Fax: +358 (0)207 / 463 541 Fax: +386 (0)1 / 513 8170
8-12,1 chome, Harumi Chuo-Ku
Tokyo 104-6212 UTECO GREECE Beijer Electronics AB SWEDEN
Phone: +81 3 622 160 60 5, Mavrogenous Str. Box 426
Fax: +81 3 622 160 75 GR-18542 Piraeus SE-20124 Malmö
Phone: +30 211 / 1206 900 Phone: +46 (0)40 / 35 86 00
MITSUBISHI ELECTRIC AUTOMATION, Inc. USA Fax: +30 211 / 1206 999 Fax: +46 (0)40 / 93 23 01
500 Corporate Woods Parkway
Vernon Hills, IL 60061 MELTRADE Kft. HUNGARY Omni Ray AG SWITZERLAND
Phone: +1 847 478 21 00 Fertő utca 14. Im Schörli 5
Fax: +1 847 478 22 53 HU-1107 Budapest CH-8600 Dübendorf
Phone: +36 (0)1 / 431-9726 Phone: +41 (0)44 / 802 28 80
Fax: +36 (0)1 / 431-9727 Fax: +41 (0)44 / 802 28 28
Beijer Electronics SIA LATVIA GTS TURKEY
Ritausmas iela 23 Bayraktar Bulvari Nutuk Sok. No:5
LV-1058 Riga TR-34775 Yukarı Dudullu-Ümraniye-İSTANBUL
Phone: +371 (0)784 / 2280 Phone: +90 (0)216 526 39 90
Fax: +371 (0)784 / 2281 Fax: +90 (0)216 526 3995
Beijer Electronics UAB LITHUANIA CSC Automation Ltd. UKRAINE
Savanoriu Pr. 187 4-B, M. Raskovoyi St.
LT-02300 Vilnius UA-02660 Kiev
Phone: +370 (0)5 / 232 3101 Phone: +380 (0)44 / 494 33 55
Fax: +370 (0)5 / 232 2980 Fax: +380 (0)44 / 494-33-66
Systemgroup UKRAINE
2 M. Krivonosa St.
UA-03680 Kiev
Phone: +380 (0)44 / 490 92 29
Fax: +380 (0)44 / 248 88 68
Mitsubishi Electric Europe B.V. /// FA - European Business Group /// Gothaer Straße 8 /// D-40880 Ratingen /// Germany
Tel.: +49(0)2102-4860 /// Fax: +49(0)2102-4861120 /// info@mitsubishi-automation.com /// www.mitsubishi-automation.com

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General-Purpose AC Servo

General-Purpose Interface AC Servo

MR-J4-_A SERVO AMPLIFIER INSTRUCTION MANUAL

MODEL MR-J4-A INSTRUCTIONMANUAL

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

This Instruction Manual uses recycled paper.

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1. FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

The function block diagram of this servo is shown below.

(1) MR-J4-500A or less

A/D USB RS-422 D/A

A/D USB RS-422 D/A

Note 1. For power supply specifications, refer to section 1.3.

1.3 Servo amplifier standard specifications

1.4 Combinations of servo amplifiers and servo motors

1.5 Function list

1.6 Model designation

(1) Rating plate

1.7.1 Parts identification

(1) MR-J4-200A or less

MODE UP DOWN SET Section

Note. The illustration above is of MR-J4-10A.

The broken line area is the same as MR-J4-200A or less. Detailed

1.7.2 Removal and reinstallation of the front cover

(1) For MR-J4-700A

3) Pull out the front cover to remove. Hold the ends of

Reinstallation of the front cover

3) Press the cover against the terminal box until the

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Molded case circuit

3. SIGNALS AND WIRING

Control output Control output

Use a noise filter, etc. to minimize the influence of electromagnetic interference.

(1) For 3-phase 200 V AC to 240 V AC power supply of MR-J4-10A to MR-J4-350A

(2) For 1-phase 200 V AC to 240 V AC power supply of MR-J4-10A to MR-J4-70A

3.2 I/O signal connection example

3.2.1 Position control mode

3.2.2 Speed control mode

11. Use an external power supply when inputting a negative voltage.

3.2.3 Torque control mode

DICOM 20 48 ALM RA1

9. Use an external power supply when inputting a negative voltage.

3.3 Explanation of power supply system

3.3.1 Signal explanations

Symbol Connection Description

Servo amplifier MR-J4-10A to MR- MR-J4-100A to

3.3.2 Power-on sequence

(1) Power-on procedure

(2) Timing chart

3.3.3 Wiring CNP1, CNP2, and CNP3

Table 3.1 Connector and applicable wire

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